cartographer/cartographer/mapping/proto/trajectory_builder_options....

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// Copyright 2016 The Cartographer Authors
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
syntax = "proto3";
import "cartographer/transform/proto/transform.proto";
import "cartographer/mapping_2d/proto/local_trajectory_builder_options_2d.proto";
import "cartographer/mapping_3d/proto/local_trajectory_builder_options_3d.proto";
package cartographer.mapping.proto;
message InitialTrajectoryPose {
transform.proto.Rigid3d relative_pose = 1;
int32 to_trajectory_id = 2;
int64 timestamp = 3;
}
message TrajectoryBuilderOptions {
LocalTrajectoryBuilderOptions2D trajectory_builder_2d_options = 1;
LocalTrajectoryBuilderOptions3D trajectory_builder_3d_options = 2;
bool pure_localization = 3;
InitialTrajectoryPose initial_trajectory_pose = 4;
}
message SensorId {
enum SensorType {
RANGE = 0;
IMU = 1;
ODOMETRY = 2;
FIXED_FRAME_POSE = 3;
LANDMARK = 4;
LOCAL_SLAM_RESULT = 5;
}
SensorType type = 1;
string id = 2;
}
message TrajectoryBuilderOptionsWithSensorIds {
repeated SensorId sensor_id = 1;
TrajectoryBuilderOptions trajectory_builder_options = 2;
}
message AllTrajectoryBuilderOptions {
repeated TrajectoryBuilderOptionsWithSensorIds options_with_sensor_ids = 1;
}