text: /*
   * 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
  