40 lines
1.3 KiB
Protocol Buffer
40 lines
1.3 KiB
Protocol Buffer
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// Copyright 2016 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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package cartographer.mapping.proto;
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import "cartographer/mapping/proto/grid_2d.proto";
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import "cartographer/mapping/proto/hybrid_grid.proto";
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import "cartographer/transform/proto/transform.proto";
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// Serialized state of a Submap2D.
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message Submap2D {
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transform.proto.Rigid3d local_pose = 1;
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int32 num_range_data = 2;
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bool finished = 3;
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Grid2D grid = 4;
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}
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// Serialized state of a Submap3D.
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message Submap3D {
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transform.proto.Rigid3d local_pose = 1;
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int32 num_range_data = 2;
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bool finished = 3;
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HybridGrid high_resolution_hybrid_grid = 4;
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HybridGrid low_resolution_hybrid_grid = 5;
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repeated float rotational_scan_matcher_histogram = 6;
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}
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