44 lines
1.5 KiB
C++
44 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.
|
|
*/
|
|
|
|
#include "cartographer/sensor/fixed_frame_pose_data.h"
|
|
|
|
#include "cartographer/common/optional.h"
|
|
#include "cartographer/transform/transform.h"
|
|
|
|
namespace cartographer {
|
|
namespace sensor {
|
|
|
|
proto::FixedFramePoseData ToProto(const FixedFramePoseData& pose_data) {
|
|
proto::FixedFramePoseData proto;
|
|
proto.set_timestamp(common::ToUniversal(pose_data.time));
|
|
if (pose_data.pose.has_value()) {
|
|
*proto.mutable_pose() = transform::ToProto(pose_data.pose.value());
|
|
}
|
|
return proto;
|
|
}
|
|
|
|
FixedFramePoseData FromProto(const proto::FixedFramePoseData& proto) {
|
|
return FixedFramePoseData{common::FromUniversal(proto.timestamp()),
|
|
proto.has_pose()
|
|
? common::optional<transform::Rigid3d>(
|
|
transform::ToRigid3(proto.pose()))
|
|
: common::optional<transform::Rigid3d>()};
|
|
}
|
|
|
|
} // namespace sensor
|
|
} // namespace cartographer
|