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HiepLM
2026-01-16 15:13:14 +07:00
parent 0f58db3481
commit ebda1f81a1
33 changed files with 3597 additions and 515 deletions
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28
examples/CSharpExample.cs
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@@ -53,6 +53,14 @@ namespace NavigationExample
public double theta;
}
[StructLayout(LayoutKind.Sequential)]
public struct Twist2D
{
public double x;
public double y;
public double theta;
}
[StructLayout(LayoutKind.Sequential)]
public struct Quaternion
{
@@ -93,6 +101,13 @@ namespace NavigationExample
public Pose pose;
}
[StructLayout(LayoutKind.Sequential)]
public struct Twist2DStamped
{
public Header header;
public Twist2D velocity;
}
[StructLayout(LayoutKind.Sequential)]
public struct Vector3
{
@@ -180,6 +195,14 @@ namespace NavigationExample
public static extern bool navigation_set_robot_footprint(
IntPtr handle, Point[] points, UIntPtr point_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_robot_footprint(
IntPtr handle, out IntPtr out_points, out UIntPtr out_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_points(IntPtr points);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_move_to(
@@ -231,6 +254,11 @@ namespace NavigationExample
public static extern bool navigation_get_robot_pose_2d(
IntPtr handle, ref Pose2D out_pose);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_twist(
IntPtr handle, ref Twist2DStamped out_twist);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_feedback(

28
examples/NavigationExample/Program.cs
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@@ -53,6 +53,14 @@ namespace NavigationExample
public double theta;
}
[StructLayout(LayoutKind.Sequential)]
public struct Twist2D
{
public double x;
public double y;
public double theta;
}
[StructLayout(LayoutKind.Sequential)]
public struct Quaternion
{
@@ -93,6 +101,13 @@ namespace NavigationExample
public Pose pose;
}
[StructLayout(LayoutKind.Sequential)]
public struct Twist2DStamped
{
public Header header;
public Twist2D velocity;
}
[StructLayout(LayoutKind.Sequential)]
public struct Vector3
{
@@ -180,6 +195,14 @@ namespace NavigationExample
public static extern bool navigation_set_robot_footprint(
IntPtr handle, Point[] points, UIntPtr point_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_robot_footprint(
IntPtr handle, out IntPtr out_points, out UIntPtr out_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_points(IntPtr points);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_move_to(
@@ -231,6 +254,11 @@ namespace NavigationExample
public static extern bool navigation_get_robot_pose_2d(
IntPtr handle, ref Pose2D out_pose);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_twist(
IntPtr handle, ref Twist2DStamped out_twist);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_feedback(

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examples/NavigationExample/libnav_c_api.so
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