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srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Models/GroundTruth/Relations.cs

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+/*
+ * 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.
+ */
+
+using CartographerSharp.Models.Transform;
+using System.Text.Json.Serialization;
+
+namespace CartographerSharp.Models.GroundTruth;
+
+/// <summary>
+/// Relation between two timestamps with expected relative transform.
+/// </summary>
+public struct Relation
+{
+    [JsonPropertyName("timestamp1")]
+    public long Timestamp1 { get; set; }
+
+    [JsonPropertyName("timestamp2")]
+    public long Timestamp2 { get; set; }
+
+    /// <summary>
+    /// The 'expected' relative transform of the tracking frame from 'timestamp2'
+    /// to 'timestamp1'.
+    /// </summary>
+    [JsonPropertyName("expected")]
+    public Rigid3dProto Expected { get; set; }
+
+    /// <summary>
+    /// Covered distance between the two timestamps.
+    /// </summary>
+    [JsonPropertyName("covered_distance")]
+    public double CoveredDistance { get; set; }
+}
+
+/// <summary>
+/// Ground truth data containing relations.
+/// </summary>
+public struct GroundTruth
+{
+    [JsonPropertyName("relation")]
+    public List<Relation> Relations { get; set; }
+}