47 lines
1.5 KiB
C++
47 lines
1.5 KiB
C++
/*
|
|
* Copyright 2017 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.
|
|
*/
|
|
|
|
#ifndef CARTOGRAPHER_SENSOR_FIXED_FRAME_POSE_DATA_H_
|
|
#define CARTOGRAPHER_SENSOR_FIXED_FRAME_POSE_DATA_H_
|
|
|
|
#include <memory>
|
|
|
|
#include "cartographer/common/optional.h"
|
|
#include "cartographer/common/time.h"
|
|
#include "cartographer/sensor/proto/sensor.pb.h"
|
|
#include "cartographer/transform/rigid_transform.h"
|
|
|
|
namespace cartographer {
|
|
namespace sensor {
|
|
|
|
// The fixed frame pose data (like GPS, pose, etc.) will be used in the
|
|
// optimization.
|
|
struct FixedFramePoseData {
|
|
common::Time time;
|
|
common::optional<transform::Rigid3d> pose;
|
|
};
|
|
|
|
// Converts 'pose_data' to a proto::FixedFramePoseData.
|
|
proto::FixedFramePoseData ToProto(const FixedFramePoseData& pose_data);
|
|
|
|
// Converts 'proto' to an FixedFramePoseData.
|
|
FixedFramePoseData FromProto(const proto::FixedFramePoseData& proto);
|
|
|
|
} // namespace sensor
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_SENSOR_FIXED_FRAME_POSE_DATA_H_
|