Sematic-Cartographer/cartographer-master/cartographer/sensor/imu_data.cc

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