42 lines
1.3 KiB
C++
Executable File
42 lines
1.3 KiB
C++
Executable File
/*
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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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#include "cartographer/sensor/imu_data.h"
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#include "cartographer/transform/transform.h"
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namespace cartographer {
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namespace sensor {
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proto::ImuData ToProto(const ImuData& imu_data) {
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proto::ImuData proto;
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proto.set_timestamp(common::ToUniversal(imu_data.time));
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*proto.mutable_linear_acceleration() =
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transform::ToProto(imu_data.linear_acceleration);
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*proto.mutable_angular_velocity() =
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transform::ToProto(imu_data.angular_velocity);
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return proto;
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}
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ImuData FromProto(const proto::ImuData& proto) {
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return ImuData{common::FromUniversal(proto.timestamp()),
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transform::ToEigen(proto.linear_acceleration()),
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transform::ToEigen(proto.angular_velocity())};
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}
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} // namespace sensor
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} // namespace cartographer
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