// 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.

syntax = "proto3";

import "cartographer/mapping_2d/proto/map_limits.proto";

package cartographer.mapping.proto;

message ProbabilityGrid {
  message CellBox {
    int32 max_x = 1;
    int32 max_y = 2;
    int32 min_x = 3;
    int32 min_y = 4;
  }

  MapLimits limits = 1;
  // These values are actually int16s, but protos don't have a native int16
  // type.
  repeated int32 cells = 2;
  CellBox known_cells_box = 8;
}
