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HiepLM
2026-03-02 07:50:30 +00:00
parent ff8a90cbaa
commit 06c2d01b4a
61 changed files with 2934 additions and 1012 deletions
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274
examples/NavigationExample/msgs/CommonMsgs.cs Normal file
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using System;
using System.Runtime.InteropServices;
namespace NavigationExample
{
// ============================================================================
// Structures
// ============================================================================
[StructLayout(LayoutKind.Sequential)]
public struct Point
{
public double x;
public double y;
public double z;
}
[StructLayout(LayoutKind.Sequential)]
public struct Pose2D
{
public double x;
public double y;
public double theta;
}
[StructLayout(LayoutKind.Sequential)]
public struct Twist2D
{
public double x;
public double y;
public double theta;
}
[StructLayout(LayoutKind.Sequential)]
public struct Quaternion
{
public double x;
public double y;
public double z;
public double w;
}
[StructLayout(LayoutKind.Sequential)]
public struct Position
{
public double x;
public double y;
public double z;
}
[StructLayout(LayoutKind.Sequential)]
public struct Pose
{
public Point position;
public Quaternion orientation;
}
[StructLayout(LayoutKind.Sequential)]
public struct Vector3
{
public double x;
public double y;
public double z;
}
[StructLayout(LayoutKind.Sequential)]
public struct Twist
{
public Vector3 linear;
public Vector3 angular;
}
[StructLayout(LayoutKind.Sequential)]
public struct Header
{
public uint seq;
public uint sec;
public uint nsec;
public IntPtr frame_id; // char*
}
[StructLayout(LayoutKind.Sequential)]
public struct PoseStamped
{
public Header header;
public Pose pose;
}
[StructLayout(LayoutKind.Sequential)]
public struct Twist2DStamped
{
public Header header;
public Twist2D velocity;
}
[StructLayout(LayoutKind.Sequential)]
public struct LaserScan
{
public Header header;
public float angle_min;
public float angle_max;
public float angle_increment;
public float time_increment;
public float scan_time;
public float range_min;
public float range_max;
public IntPtr ranges;
public UIntPtr ranges_count;
public IntPtr intensities;
public UIntPtr intensities_count;
}
[StructLayout(LayoutKind.Sequential)]
public struct PointCloud
{
public Header header;
public IntPtr points;
public UIntPtr points_count;
public IntPtr channels;
public UIntPtr channels_count;
}
[StructLayout(LayoutKind.Sequential)]
public struct PointCloud2
{
public Header header;
public uint height;
public uint width;
public IntPtr fields;
public UIntPtr fields_count;
[MarshalAs(UnmanagedType.I1)]
public bool is_bigendian;
public uint point_step;
public uint row_step;
public IntPtr data;
public UIntPtr data_count;
[MarshalAs(UnmanagedType.I1)]
public bool is_dense;
}
[StructLayout(LayoutKind.Sequential)]
public struct PoseWithCovariance
{
public Pose pose;
public IntPtr covariance;
public UIntPtr covariance_count;
}
[StructLayout(LayoutKind.Sequential)]
public struct TwistWithCovariance {
public Twist twist;
public IntPtr covariance;
public UIntPtr covariance_count;
}
[StructLayout(LayoutKind.Sequential)]
public struct Odometry
{
public Header header;
public IntPtr child_frame_id;
public PoseWithCovariance pose;
public TwistWithCovariance twist;
}
[StructLayout(LayoutKind.Sequential)]
public struct OccupancyGrid
{
public Header header;
public MapMetaData info;
public IntPtr data;
public UIntPtr data_count;
}
[StructLayout(LayoutKind.Sequential)]
public struct MapMetaData
{
public Time map_load_time;
public float resolution;
public uint width;
public uint height;
public Pose origin;
}
[StructLayout(LayoutKind.Sequential)]
public struct Time
{
public uint sec;
public uint nsec;
}
[StructLayout(LayoutKind.Sequential)]
public struct Point32
{
public float x;
public float y;
public float z;
}
[StructLayout(LayoutKind.Sequential)]
public struct Pose2DStamped
{
public Header header;
public Pose2D pose;
}
[StructLayout(LayoutKind.Sequential)]
public struct Polygon
{
public IntPtr points;
public UIntPtr points_count;
}
[StructLayout(LayoutKind.Sequential)]
public struct PolygonStamped
{
public Header header;
public Polygon polygon;
}
[StructLayout(LayoutKind.Sequential)]
public struct OccupancyGridUpdate
{
public Header header;
public int x;
public int y;
public uint width;
public uint height;
public IntPtr data;
public UIntPtr data_count;
}
[StructLayout(LayoutKind.Sequential)]
public struct Path2D
{
public Header header;
public IntPtr poses;
public UIntPtr poses_count;
}
/// <summary>Name (char*) + OccupancyGrid for static map list API.</summary>
[StructLayout(LayoutKind.Sequential)]
public struct NamedOccupancyGrid
{
public IntPtr name;
public OccupancyGrid grid;
}
/// <summary>Name (char*) + LaserScan for laser scan list API.</summary>
[StructLayout(LayoutKind.Sequential)]
public struct NamedLaserScan
{
public IntPtr name;
public LaserScan scan;
}
/// <summary>Name (char*) + PointCloud for point cloud list API.</summary>
[StructLayout(LayoutKind.Sequential)]
public struct NamedPointCloud
{
public IntPtr name;
public PointCloud cloud;
}
/// <summary>Name (char*) + PointCloud2 for point cloud2 list API.</summary>
[StructLayout(LayoutKind.Sequential)]
public struct NamedPointCloud2
{
public IntPtr name;
public PointCloud2 cloud;
}
}