text: /*
   * 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.
   */
  
  #include "cartographer/mapping/pose_graph/optimization_problem_options.h"
  
  #include "cartographer/common/ceres_solver_options.h"
  
  namespace cartographer {
  namespace mapping {
  namespace pose_graph {
  
  proto::OptimizationProblemOptions CreateOptimizationProblemOptions(
      common::LuaParameterDictionary* const parameter_dictionary) {
    proto::OptimizationProblemOptions options;
    options.set_huber_scale(parameter_dictionary->GetDouble("huber_scale"));
    options.set_acceleration_weight(
        parameter_dictionary->GetDouble("acceleration_weight"));
    options.set_rotation_weight(
        parameter_dictionary->GetDouble("rotation_weight"));
    options.set_consecutive_node_translation_weight(
        parameter_dictionary->GetDouble("consecutive_node_translation_weight"));
    options.set_consecutive_node_rotation_weight(
        parameter_dictionary->GetDouble("consecutive_node_rotation_weight"));
    options.set_fixed_frame_pose_translation_weight(
        parameter_dictionary->GetDouble("fixed_frame_pose_translation_weight"));
    options.set_fixed_frame_pose_rotation_weight(
        parameter_dictionary->GetDouble("fixed_frame_pose_rotation_weight"));
    options.set_log_solver_summary(
        parameter_dictionary->GetBool("log_solver_summary"));
    *options.mutable_ceres_solver_options() =
        common::CreateCeresSolverOptionsProto(
            parameter_dictionary->GetDictionary("ceres_solver_options").get());
    return options;
  }
  
  }  // namespace pose_graph
  }  // namespace mapping
  }  // namespace cartographer
  