46 lines
1.5 KiB
C++
46 lines
1.5 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/sensor/data.h"
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namespace cartographer {
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namespace sensor {
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template <>
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void Dispatchable<sensor::ImuData>::AddToTrajectoryBuilder(
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mapping::TrajectoryBuilder* const trajectory_builder,
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const std::string& sensor_id) {
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trajectory_builder->AddImuData(
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sensor_id, data_.time, data_.linear_acceleration, data_.angular_velocity);
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}
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template <>
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void Dispatchable<sensor::OdometryData>::AddToTrajectoryBuilder(
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mapping::TrajectoryBuilder* const trajectory_builder,
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const std::string& sensor_id) {
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trajectory_builder->AddOdometerData(sensor_id, data_.time, data_.pose);
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}
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template <>
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void Dispatchable<sensor::FixedFramePoseData>::AddToTrajectoryBuilder(
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mapping::TrajectoryBuilder* const trajectory_builder,
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const std::string& sensor_id) {
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trajectory_builder->AddFixedFramePoseData(sensor_id, data_.time, data_.pose);
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}
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} // namespace sensor
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} // namespace cartographer
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