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srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Models/Mapping/Trajectory.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 System.Collections.Generic;
+using System.Text.Json.Serialization;
+using CartographerSharp.Models.Transform;
+
+namespace CartographerSharp.Models.Mapping;
+
+/// <summary>
+/// Protocol buffer representation of a trajectory.
+/// </summary>
+public struct Trajectory
+{
+    /// <summary>
+    /// Node within a trajectory.
+    /// </summary>
+    public struct Node
+    {
+        /// <summary>
+        /// Index of this node within its trajectory.
+        /// </summary>
+        [JsonPropertyName("node_index")]
+        public int NodeIndex { get; set; }
+
+        /// <summary>
+        /// Timestamp of this node.
+        /// </summary>
+        [JsonPropertyName("timestamp")]
+        public long Timestamp { get; set; }
+
+        /// <summary>
+        /// Transform from tracking to global map frame.
+        /// </summary>
+        [JsonPropertyName("pose")]
+        public Rigid3dProto Pose { get; set; }
+
+        public Node(int nodeIndex, long timestamp, Rigid3dProto pose)
+        {
+            NodeIndex = nodeIndex;
+            Timestamp = timestamp;
+            Pose = pose;
+        }
+    }
+
+    /// <summary>
+    /// Submap within a trajectory.
+    /// </summary>
+    public struct Submap
+    {
+        /// <summary>
+        /// Index of this submap within its trajectory.
+        /// </summary>
+        [JsonPropertyName("submap_index")]
+        public int SubmapIndex { get; set; }
+
+        /// <summary>
+        /// Transform from submap to global map frame.
+        /// </summary>
+        [JsonPropertyName("pose")]
+        public Rigid3dProto Pose { get; set; }
+
+        public Submap(int submapIndex, Rigid3dProto pose)
+        {
+            SubmapIndex = submapIndex;
+            Pose = pose;
+        }
+    }
+
+    /// <summary>
+    /// ID of this trajectory.
+    /// </summary>
+    [JsonPropertyName("trajectory_id")]
+    public int TrajectoryId { get; set; }
+
+    /// <summary>
+    /// Time-ordered sequence of Nodes.
+    /// </summary>
+    [JsonPropertyName("node")]
+    public List<Node> Nodes { get; set; }
+
+    /// <summary>
+    /// Submaps associated with the trajectory.
+    /// </summary>
+    [JsonPropertyName("submap")]
+    public List<Submap> Submaps { get; set; }
+
+    public Trajectory(int trajectoryId, List<Node>? nodes = null, List<Submap>? submaps = null)
+    {
+        TrajectoryId = trajectoryId;
+        Nodes = nodes ?? new List<Node>();
+        Submaps = submaps ?? new List<Submap>();
+    }
+}