36 lines
1.2 KiB
C++
36 lines
1.2 KiB
C++
/*
|
|
* 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.
|
|
*/
|
|
|
|
#include "cartographer/mapping/global_trajectory_builder_interface.h"
|
|
|
|
namespace cartographer {
|
|
namespace mapping {
|
|
|
|
GlobalTrajectoryBuilderInterface::PoseEstimate::PoseEstimate(
|
|
const common::Time time, const kalman_filter::PoseAndCovariance& prediction,
|
|
const kalman_filter::PoseAndCovariance& observation,
|
|
const kalman_filter::PoseAndCovariance& estimate,
|
|
const transform::Rigid3d& pose, const sensor::PointCloud& point_cloud)
|
|
: time(time),
|
|
prediction(prediction),
|
|
observation(observation),
|
|
estimate(estimate),
|
|
pose(pose),
|
|
point_cloud(point_cloud) {}
|
|
|
|
} // namespace mapping
|
|
} // namespace cartographer
|