42 lines
1.5 KiB
C++
42 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/mapping_3d/local_trajectory_builder.h"
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#include "cartographer/common/make_unique.h"
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#include "cartographer/mapping_3d/kalman_local_trajectory_builder.h"
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#include "cartographer/mapping_3d/optimizing_local_trajectory_builder.h"
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namespace cartographer {
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namespace mapping_3d {
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std::unique_ptr<LocalTrajectoryBuilderInterface> CreateLocalTrajectoryBuilder(
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const proto::LocalTrajectoryBuilderOptions&
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local_trajectory_builder_options) {
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switch (local_trajectory_builder_options.use()) {
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case proto::LocalTrajectoryBuilderOptions::KALMAN:
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return common::make_unique<KalmanLocalTrajectoryBuilder>(
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local_trajectory_builder_options);
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case proto::LocalTrajectoryBuilderOptions::OPTIMIZING:
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return common::make_unique<OptimizingLocalTrajectoryBuilder>(
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local_trajectory_builder_options);
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}
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LOG(FATAL);
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}
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} // namespace mapping_3d
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} // namespace cartographer
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