45 lines
1.7 KiB
C++
45 lines
1.7 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/optimizing_local_trajectory_builder_options.h"
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namespace cartographer {
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namespace mapping_3d {
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proto::OptimizingLocalTrajectoryBuilderOptions
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CreateOptimizingLocalTrajectoryBuilderOptions(
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common::LuaParameterDictionary* const parameter_dictionary) {
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proto::OptimizingLocalTrajectoryBuilderOptions options;
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options.set_high_resolution_grid_weight(
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parameter_dictionary->GetDouble("high_resolution_grid_weight"));
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options.set_low_resolution_grid_weight(
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parameter_dictionary->GetDouble("low_resolution_grid_weight"));
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options.set_velocity_weight(
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parameter_dictionary->GetDouble("velocity_weight"));
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options.set_translation_weight(
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parameter_dictionary->GetDouble("translation_weight"));
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options.set_rotation_weight(
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parameter_dictionary->GetDouble("rotation_weight"));
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options.set_odometry_translation_weight(
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parameter_dictionary->GetDouble("odometry_translation_weight"));
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options.set_odometry_rotation_weight(
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parameter_dictionary->GetDouble("odometry_rotation_weight"));
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return options;
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}
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} // namespace mapping_3d
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} // namespace cartographer
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