48 lines
1.8 KiB
C++
48 lines
1.8 KiB
C++
/*
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* Copyright 2018 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/pose_graph/constraint/cost_function/acceleration_cost_3d.h"
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#include "cartographer/transform/transform.h"
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namespace cartographer {
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namespace pose_graph {
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AccelerationCost3D::AccelerationCost3D(
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const proto::Acceleration3D::Parameters& parameters)
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: delta_velocity_imu_frame_(
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transform::ToEigen(parameters.delta_velocity_imu_frame())),
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first_to_second_delta_time_seconds_(
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parameters.first_to_second_delta_time_seconds()),
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second_to_third_delta_time_seconds_(
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parameters.second_to_third_delta_time_seconds()),
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scaling_factor_(parameters.scaling_factor()) {}
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proto::Acceleration3D::Parameters AccelerationCost3D::ToProto() const {
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proto::Acceleration3D::Parameters parameters;
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*parameters.mutable_delta_velocity_imu_frame() =
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transform::ToProto(delta_velocity_imu_frame_);
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parameters.set_first_to_second_delta_time_seconds(
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first_to_second_delta_time_seconds_);
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parameters.set_second_to_third_delta_time_seconds(
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second_to_third_delta_time_seconds_);
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parameters.set_scaling_factor(scaling_factor_);
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return parameters;
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}
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} // namespace pose_graph
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} // namespace cartographer
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