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imu_data.h
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imu_data.h
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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.
*/
#ifndef CARTOGRAPHER_SENSOR_IMU_DATA_H_
#define CARTOGRAPHER_SENSOR_IMU_DATA_H_
#include "Eigen/Core"
#include "cartographer/common/time.h"
#include "cartographer/sensor/proto/sensor.pb.h"
namespace cartographer {
namespace sensor {
struct ImuData {
common::Time time;
Eigen::Vector3d linear_acceleration;
Eigen::Vector3d angular_velocity;
};
// Converts 'imu_data' to a proto::ImuData.
proto::ImuData ToProto(const ImuData& imu_data);
// Converts 'proto' to an ImuData.
ImuData FromProto(const proto::ImuData& proto);
} // namespace sensor
} // namespace cartographer
#endif // CARTOGRAPHER_SENSOR_IMU_DATA_H_