37 lines
1.3 KiB
Protocol Buffer
37 lines
1.3 KiB
Protocol Buffer
// 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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syntax = "proto2";
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import "cartographer/transform/proto/transform.proto";
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import "cartographer/mapping_2d/proto/local_trajectory_builder_options.proto";
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import "cartographer/mapping_3d/proto/local_trajectory_builder_options.proto";
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package cartographer.mapping.proto;
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message InitialTrajectoryPose {
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optional transform.proto.Rigid3d relative_pose = 1;
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optional int32 to_trajectory_id = 2;
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optional int64 timestamp = 3;
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}
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message TrajectoryBuilderOptions {
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optional mapping_2d.proto.LocalTrajectoryBuilderOptions
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trajectory_builder_2d_options = 1;
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optional mapping_3d.proto.LocalTrajectoryBuilderOptions
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trajectory_builder_3d_options = 2;
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optional bool pure_localization = 3;
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optional InitialTrajectoryPose initial_trajectory_pose = 4;
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}
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