Initial commit

srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Models/Mapping/TrajectoryData.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.Text.Json.Serialization;
+using CartographerSharp.Models.Transform;
+
+namespace CartographerSharp.Models.Mapping;
+
+/// <summary>
+/// Protocol buffer representation of trajectory data.
+/// </summary>
+public struct TrajectoryData
+{
+    [JsonPropertyName("trajectory_id")]
+    public int TrajectoryId { get; set; }
+
+    [JsonPropertyName("gravity_constant")]
+    public double GravityConstant { get; set; }
+
+    [JsonPropertyName("imu_calibration")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public Quaterniond? ImuCalibration { get; set; }
+
+    [JsonPropertyName("fixed_frame_origin_in_map")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public Rigid3dProto? FixedFrameOriginInMap { get; set; }
+
+    public TrajectoryData(
+        int trajectoryId,
+        double gravityConstant = 9.8,
+        Quaterniond? imuCalibration = null,
+        Rigid3dProto? fixedFrameOriginInMap = null)
+    {
+        TrajectoryId = trajectoryId;
+        GravityConstant = gravityConstant;
+        ImuCalibration = imuCalibration;
+        FixedFrameOriginInMap = fixedFrameOriginInMap;
+    }
+}