49 lines
1.8 KiB
Protocol Buffer
Executable File
49 lines
1.8 KiB
Protocol Buffer
Executable File
// Copyright 2018 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 = "proto3";
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import "cartographer/common/proto/ceres_solver_options.proto";
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package cartographer.mapping.proto;
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message ConstantVelocityPoseExtrapolatorOptions {
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// Time constant in seconds for the orientation moving average based on
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// observed gravity via the IMU. It should be chosen so that the error
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// 1. from acceleration measurements not due to gravity (which gets worse when
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// the constant is reduced) and
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// 2. from integration of angular velocities (which gets worse when the
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// constant is increased) is balanced.
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double imu_gravity_time_constant = 1;
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double pose_queue_duration = 2;
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}
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message ImuBasedPoseExtrapolatorOptions {
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double pose_queue_duration = 1;
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double gravity_constant = 2;
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double pose_translation_weight = 3;
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double pose_rotation_weight = 4;
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double imu_acceleration_weight = 5;
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double imu_rotation_weight = 6;
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cartographer.common.proto.CeresSolverOptions solver_options = 7;
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double odometry_translation_weight = 8;
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double odometry_rotation_weight = 9;
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}
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message PoseExtrapolatorOptions {
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bool use_imu_based = 1;
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ConstantVelocityPoseExtrapolatorOptions constant_velocity = 2;
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ImuBasedPoseExtrapolatorOptions imu_based = 3;
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}
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