52 lines
1.4 KiB
Protocol Buffer
52 lines
1.4 KiB
Protocol Buffer
// 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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syntax = "proto3";
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package cartographer.mapping.proto;
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import "cartographer/transform/proto/transform.proto";
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option java_outer_classname = "TrajectoryOuterClass";
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message Trajectory {
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// NEXT_ID: 8
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message Node {
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// Index of this node within its trajectory.
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int32 node_index = 7;
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int64 timestamp = 1;
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// Transform from tracking to global map frame.
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transform.proto.Rigid3d pose = 5;
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}
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message Submap {
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// Index of this submap within its trajectory.
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int32 submap_index = 2;
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// Transform from submap to global map frame.
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transform.proto.Rigid3d pose = 1;
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}
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// ID of this trajectory.
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int32 trajectory_id = 3;
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// Time-ordered sequence of Nodes.
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repeated Node node = 1;
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// Submaps associated with the trajectory.
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repeated Submap submap = 2;
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}
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