// 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.

syntax = "proto3";

package cartographer.mapping.proto;

import "cartographer/sensor/proto/sensor.proto";
import "cartographer/transform/proto/transform.proto";

// Serialized state of a mapping::TrajectoryNode::Data.
message TrajectoryNodeData {
  int64 timestamp = 1;
  transform.proto.Quaterniond gravity_alignment = 2;
  sensor.proto.CompressedPointCloud
      filtered_gravity_aligned_point_cloud = 3;
  sensor.proto.CompressedPointCloud high_resolution_point_cloud = 4;
  sensor.proto.CompressedPointCloud low_resolution_point_cloud = 5;
  repeated float rotational_scan_matcher_histogram = 6;
  transform.proto.Rigid3d local_pose = 7;
}