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- # Copyright 2016 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.
- string tracking_frame
- string published_frame
- string odom_frame
- bool provide_odom_frame
- bool use_odometry
- bool use_nav_sat
- bool use_landmarks
- bool publish_frame_projected_to_2d
- int32 num_laser_scans
- int32 num_multi_echo_laser_scans
- int32 num_subdivisions_per_laser_scan
- int32 num_point_clouds
- float64 rangefinder_sampling_ratio
- float64 odometry_sampling_ratio
- float64 fixed_frame_pose_sampling_ratio
- float64 imu_sampling_ratio
- float64 landmarks_sampling_ratio
- # This is a binary-encoded
- # 'cartographer.mapping.proto.TrajectoryBuilderOptions' proto.
- string trajectory_builder_options_proto
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