first commit

geometry_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10)
+project(geometry_msgs)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+if (NOT TARGET std_msgs)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../std_msgs ${CMAKE_BINARY_DIR}/std_msgs_build)
+endif()
+
+# Thư viện header-only
+add_library(geometry_msgs INTERFACE)
+
+# Include path tới thư mục chứa file header
+target_include_directories(geometry_msgs INTERFACE
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+)
+
+# Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/
+target_link_libraries(geometry_msgs INTERFACE std_msgs)

geometry_msgs/include/geometry_msgs/Point.h

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+#ifndef POINT_H
+#define POINT_H
+
+#include <cmath>
+#include <iostream>
+
+namespace geometry_msgs
+{
+
+struct Point
+{
+    double x;
+    double y;
+    double z;
+
+    // Constructor mặc định
+    Point() : x(0.0), y(0.0), z(0.0) {}
+
+    // Constructor khởi tạo nhanh
+    Point(double x_, double y_, double z_ = 0.0)
+        : x(x_), y(y_), z(z_) {}
+};
+
+} // namespace geometry_msgs
+
+#endif // POINT_H

geometry_msgs/include/geometry_msgs/Point32.h

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+#ifndef POINT_32_H
+#define POINT_32_H
+
+namespace geometry_msgs
+{
+struct Point32
+{
+    float x;
+    float y;
+    float z;
+};
+} // namespace geometry_msgs
+
+#endif //POINT_32_H

geometry_msgs/include/geometry_msgs/PointStamped.h

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+// # This represents a Point with reference coordinate frame and timestamp
+// Header header
+// Point point
+#ifndef POINT_STAMPED_H
+#define POINT_STAMPED_H
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point.h"
+
+namespace geometry_msgs
+{
+    
+struct PointStamped
+{
+    std_msgs::Header header;
+    geometry_msgs::Point point;
+    PointStamped() = default;
+};
+
+} // namespace geometry_msgs
+
+#endif //POINT_STAMPED_H

geometry_msgs/include/geometry_msgs/Polygon.h

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+#ifndef POLYGON_H
+#define POLYGON_H
+#include<vector>
+#include<geometry_msgs/Point32.h>
+
+namespace geometry_msgs
+{
+
+struct Polygon
+{
+    std::vector<geometry_msgs::Point32> points;
+};
+
+} // namespace geometry_msgs
+
+#endif //POLYGON_H

geometry_msgs/include/geometry_msgs/PolygonStamped.h

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+// # This represents a Polygon with reference coordinate frame and timestamp
+// Header header
+// Polygon polygon
+#ifndef POLYGON_STAMPED_H
+#define POLYGON_STAMPED_H
+
+#include<std_msgs/Header.h>
+#include<geometry_msgs/Polygon.h>
+
+namespace geometry_msgs
+{
+
+struct PolygonStamped
+{
+    std_msgs::Header header;
+    Polygon polygon;
+};
+
+} // namespace geometry_msgs
+
+#endif //POLYGON_STAMPED_H

geometry_msgs/include/geometry_msgs/Pose.h

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+#ifndef POSE_H
+#define POSE_H
+
+#include <cmath>
+#include <iostream>
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Quaternion.h>
+
+namespace geometry_msgs
+{
+
+struct Pose
+{
+    Point position;
+    Quaternion orientation;
+};
+
+} // namespace geometry_msgs
+
+#endif // POSE_H

geometry_msgs/include/geometry_msgs/Quaternion.h

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+#ifndef QUATERNION_H
+#define QUATERNION_H
+
+namespace geometry_msgs
+{
+
+struct Quaternion
+{
+    double x;
+    double y;
+    double z;
+    double w;
+
+    // Constructor mặc định
+    Quaternion() : x(0.0), y(0.0), z(0.0), w(0.0) {}
+
+    // Constructor khởi tạo nhanh
+    Quaternion(double x_, double y_, double z_, double w_)
+        : x(x_), y(y_), z(z_), w(w_) {}
+};
+
+} // namespace geometry_msgs
+
+#endif // QUATERNION_H

geometry_msgs/include/geometry_msgs/Transform.h

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+#ifndef TRANSFORM_H
+#define TRANSFORM_H
+
+#include "geometry_msgs/Vector3.h"
+#include "geometry_msgs/Quaternion.h"
+
+namespace geometry_msgs
+{
+
+struct Transform
+{
+    Vector3 translation;
+    Quaternion rotation;
+};
+
+} // namespace geometry_msgs
+
+#endif // TRANSFORM_H

geometry_msgs/include/geometry_msgs/TransformStamped.h

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+#ifndef TRANSFORM_STAMPED_H
+#define TRANSFORM_STAMPED_H
+
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Transform.h"
+#include <string>
+
+namespace geometry_msgs
+{
+
+struct TransformStamped
+{
+    std_msgs::Header header;
+    std::string child_frame_id;
+    Transform transform;
+};
+
+} // namespace geometry_msgs
+
+#endif // TRANSFORM_STAMPED_H

geometry_msgs/include/geometry_msgs/Vector3.h

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+#ifndef VECTOR_3_H
+#define VECTOR_3_H
+
+namespace geometry_msgs
+{
+
+struct Vector3
+{
+    double x;
+    double y;
+    double z;
+
+    // Constructor mặc định
+    Vector3() : x(0.0), y(0.0), z(0.0) {}
+
+    // Constructor khởi tạo nhanh
+    Vector3(double x_, double y_, double z_)
+        : x(x_), y(y_), z(z_) {}
+};
+
+} // namespace geometry_msgs
+
+#endif // VECTOR_3_H

geometry_msgs/include/geometry_msgs/Vector3Stamped.msg

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+# This represents a Vector3 with reference coordinate frame and timestamp
+Header header
+Vector3 vector