54 lines
1.5 KiB
C
54 lines
1.5 KiB
C
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/*
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* Copyright 2017 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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#ifndef CARTOGRAPHER_SENSOR_LANDMARK_DATA_H_
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#define CARTOGRAPHER_SENSOR_LANDMARK_DATA_H_
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#include <string>
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "cartographer/common/port.h"
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#include "cartographer/common/time.h"
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#include "cartographer/sensor/proto/sensor.pb.h"
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#include "cartographer/transform/rigid_transform.h"
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namespace cartographer {
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namespace sensor {
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struct LandmarkObservation {
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std::string id;
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transform::Rigid3d landmark_to_tracking_transform;
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double translation_weight;
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double rotation_weight;
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};
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struct LandmarkData {
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common::Time time;
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std::vector<LandmarkObservation> landmark_observations;
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};
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// Converts 'landmark_data' to a proto::LandmarkData.
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proto::LandmarkData ToProto(const LandmarkData& landmark_data);
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// Converts 'proto' to an LandmarkData.
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LandmarkData FromProto(const proto::LandmarkData& proto);
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} // namespace sensor
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} // namespace cartographer
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#endif // CARTOGRAPHER_SENSOR_LANDMARK_DATA_H_
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