Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/SLAM/Cartographer/Helpers/RangeDataPayload.cs

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+using CartographerSharp.Sensor;
+
+namespace RobotNet10.RobotApp.SLAM.Cartographer.Helpers;
+
+/// <summary>
+/// Point cloud data in both base_link and sensor (lidar) frame.
+/// Pipeline produces both so Cartographer gets base_link for trajectory and MCL gets sensor_frame without re-transform.
+/// </summary>
+public sealed class RangeDataPayload
+{
+    /// <summary>Point cloud in base_link (robot) frame — for Cartographer ITrajectoryBuilder.AddSensorData.</summary>
+    public TimedPointCloudData BaseLink { get; set; }
+
+    /// <summary>Point cloud in sensor (lidar) frame — for MCL OnScan (beam angles relative to sensor). SensorPipeline always produces this.</summary>
+    public TimedPointCloudData SensorFrame { get; set; }
+
+    /// <summary>Actual minimum angle (radians) of filtered point cloud in sensor frame — for MCL scan conversion.</summary>
+    public double ActualAngleMin { get; set; }
+
+    /// <summary>Actual maximum angle (radians) of filtered point cloud in sensor frame — for MCL scan conversion.</summary>
+    public double ActualAngleMax { get; set; }
+
+    /// <summary>Actual angle increment (radians) from original scan — for MCL scan conversion.</summary>
+    public double ActualAngleIncrement { get; set; }
+}