Initial commit

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/Accel.cs

@@ -0,0 +1,39 @@
+using RobotNet10.Shared.Numbers;
+
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// Accel message (geometry_msgs/Accel)
+/// Expresses acceleration in free space broken into its linear and angular parts
+/// </summary>
+public struct Accel
+{
+    /// <summary>
+    /// Linear acceleration (Vector3)
+    /// </summary>
+    public Vector3 Linear { get; set; }
+
+    /// <summary>
+    /// Angular acceleration (Vector3)
+    /// </summary>
+    public Vector3 Angular { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public Accel()
+    {
+        Linear = new Vector3();
+        Angular = new Vector3();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public Accel(Vector3 linear, Vector3 angular)
+    {
+        Linear = linear;
+        Angular = angular;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/AccelStamped.cs

@@ -0,0 +1,37 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// AccelStamped message (geometry_msgs/AccelStamped)
+/// An Accel with reference coordinate frame and timestamp
+/// </summary>
+public struct AccelStamped
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Acceleration
+    /// </summary>
+    public Accel Accel { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public AccelStamped()
+    {
+        Header = new Header();
+        Accel = new Accel();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public AccelStamped(Header header, Accel accel)
+    {
+        Header = header;
+        Accel = accel;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/AccelWithCovariance.cs

@@ -0,0 +1,49 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// AccelWithCovariance message (geometry_msgs/AccelWithCovariance)
+/// An Accel with associated covariance matrix
+/// </summary>
+public struct AccelWithCovariance
+{
+    /// <summary>
+    /// Acceleration
+    /// </summary>
+    public Accel Accel { get; set; }
+
+    /// <summary>
+    /// Covariance matrix (row-major order)
+    /// The orientation parameters use a fixed-axis representation.
+    /// In order, the parameters are:
+    /// (ax, ay, az, wx, wy, wz)
+    /// </summary>
+    public double[] Covariance { get; set; }
+
+    /// <summary>
+    /// Size of covariance matrix (6x6 = 36 elements)
+    /// </summary>
+    public const int CovarianceSize = 36;
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public AccelWithCovariance()
+    {
+        Accel = new Accel();
+        Covariance = new double[CovarianceSize];
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public AccelWithCovariance(Accel accel, double[] covariance)
+    {
+        Accel = accel;
+        if (covariance == null || covariance.Length != CovarianceSize)
+        {
+            throw new ArgumentException($"Covariance array must have {CovarianceSize} elements", nameof(covariance));
+        }
+        Covariance = covariance;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/AccelWithCovarianceStamped.cs

@@ -0,0 +1,37 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// AccelWithCovarianceStamped message (geometry_msgs/AccelWithCovarianceStamped)
+/// An AccelWithCovariance with reference coordinate frame and timestamp
+/// </summary>
+public struct AccelWithCovarianceStamped
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Acceleration with covariance
+    /// </summary>
+    public AccelWithCovariance Accel { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public AccelWithCovarianceStamped()
+    {
+        Header = new Header();
+        Accel = new AccelWithCovariance();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public AccelWithCovarianceStamped(Header header, AccelWithCovariance accel)
+    {
+        Header = header;
+        Accel = accel;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/GeometryExtensions.cs

@@ -0,0 +1,18 @@
+using RobotNet10.Shared.Numbers;
+
+namespace RobotNet10.Shared.Geometry;
+
+public static class GeometryExtensions
+{
+    extension(Quaternion q)
+    {
+        public double ToYawRadian()
+        {
+            var sinYaw = 2.0 * (q.W * q.Z + q.X * q.Y);
+            var cosYaw = 1.0 - 2.0 * (q.Y * q.Y + q.Z * q.Z);
+            return Math.Atan2(sinYaw, cosYaw);
+        }
+
+        public double ToYawDegrees() => q.ToYawRadian() * 180 / Math.PI;
+    }
+}

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/Point.cs

@@ -0,0 +1,44 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// Point message (geometry_msgs/Point)
+/// Represents a point in free space with x, y, z coordinates
+/// </summary>
+public struct Point
+{
+    /// <summary>
+    /// X coordinate
+    /// </summary>
+    public double X { get; set; }
+
+    /// <summary>
+    /// Y coordinate
+    /// </summary>
+    public double Y { get; set; }
+
+    /// <summary>
+    /// Z coordinate
+    /// </summary>
+    public double Z { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public Point()
+    {
+        X = 0.0;
+        Y = 0.0;
+        Z = 0.0;
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public Point(double x, double y, double z)
+    {
+        X = x;
+        Y = y;
+        Z = z;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/PointStamped.cs

@@ -0,0 +1,39 @@
+using RobotNet10.Shared.Numbers;
+
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// PointStamped message (geometry_msgs/PointStamped)
+/// A Point with reference coordinate frame and timestamp
+/// </summary>
+public struct PointStamped
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Point
+    /// </summary>
+    public Vector3 Point { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public PointStamped()
+    {
+        Header = new Header();
+        Point = new Vector3();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public PointStamped(Header header, Vector3 point)
+    {
+        Header = header;
+        Point = point;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/Polygon.cs

@@ -0,0 +1,32 @@
+using RobotNet10.Shared.Numbers;
+
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// Polygon message (geometry_msgs/Polygon)
+/// A specification of a polygon where the first and last points are assumed to be connected
+/// </summary>
+public struct Polygon
+{
+    /// <summary>
+    /// Array of points defining the polygon
+    /// </summary>
+    public Vector3[] Points { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public Polygon()
+    {
+        Points = [];
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public Polygon(Vector3[] points)
+    {
+        Points = points;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/PolygonStamped.cs

@@ -0,0 +1,37 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// PolygonStamped message (geometry_msgs/PolygonStamped)
+/// A Polygon with reference coordinate frame and timestamp
+/// </summary>
+public struct PolygonStamped
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Polygon
+    /// </summary>
+    public Polygon Polygon { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public PolygonStamped()
+    {
+        Header = new Header();
+        Polygon = new Polygon();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public PolygonStamped(Header header, Polygon polygon)
+    {
+        Header = header;
+        Polygon = polygon;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/Pose.cs

@@ -0,0 +1,37 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// Pose message (geometry_msgs/Pose)
+/// Represents a pose in free space, composed of position and orientation
+/// </summary>
+public struct Pose
+{
+    /// <summary>
+    /// Position (Point)
+    /// </summary>
+    public Point Position { get; set; }
+
+    /// <summary>
+    /// Orientation (Quaternion)
+    /// </summary>
+    public Quaternion Orientation { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public Pose()
+    {
+        Position = new Point();
+        Orientation = new Quaternion();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public Pose(Point position, Quaternion orientation)
+    {
+        Position = position;
+        Orientation = orientation;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/PoseStamped.cs

@@ -0,0 +1,37 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// PoseStamped message (geometry_msgs/PoseStamped)
+/// A Pose with reference coordinate frame and timestamp
+/// </summary>
+public struct PoseStamped
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Pose
+    /// </summary>
+    public Pose Pose { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public PoseStamped()
+    {
+        Header = new Header();
+        Pose = new Pose();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public PoseStamped(Header header, Pose pose)
+    {
+        Header = header;
+        Pose = pose;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/PoseWithCovariance.cs

@@ -0,0 +1,49 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// PoseWithCovariance message (geometry_msgs/PoseWithCovariance)
+/// A Pose with associated covariance matrix
+/// </summary>
+public struct PoseWithCovariance
+{
+    /// <summary>
+    /// Pose
+    /// </summary>
+    public Pose Pose { get; set; }
+
+    /// <summary>
+    /// Covariance matrix (row-major order)
+    /// The orientation parameters use a fixed-axis representation.
+    /// In order, the parameters are:
+    /// (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
+    /// </summary>
+    public double[] Covariance { get; set; }
+
+    /// <summary>
+    /// Size of covariance matrix (6x6 = 36 elements)
+    /// </summary>
+    public const int CovarianceSize = 36;
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public PoseWithCovariance()
+    {
+        Pose = new Pose();
+        Covariance = new double[CovarianceSize];
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public PoseWithCovariance(Pose pose, double[] covariance)
+    {
+        Pose = pose;
+        if (covariance == null || covariance.Length != CovarianceSize)
+        {
+            throw new ArgumentException($"Covariance array must have {CovarianceSize} elements", nameof(covariance));
+        }
+        Covariance = covariance;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/PoseWithCovarianceStamped.cs

@@ -0,0 +1,37 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// PoseWithCovarianceStamped message (geometry_msgs/PoseWithCovarianceStamped)
+/// A PoseWithCovariance with reference coordinate frame and timestamp
+/// </summary>
+public struct PoseWithCovarianceStamped
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Pose with covariance
+    /// </summary>
+    public PoseWithCovariance Pose { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public PoseWithCovarianceStamped()
+    {
+        Header = new Header();
+        Pose = new PoseWithCovariance();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public PoseWithCovarianceStamped(Header header, PoseWithCovariance pose)
+    {
+        Header = header;
+        Pose = pose;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/Quaternion.cs

@@ -0,0 +1,51 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// Quaternion message (geometry_msgs/Quaternion)
+/// Represents a rotation in free space in quaternion form
+/// </summary>
+public struct Quaternion
+{
+    /// <summary>
+    /// X component
+    /// </summary>
+    public double X { get; set; }
+
+    /// <summary>
+    /// Y component
+    /// </summary>
+    public double Y { get; set; }
+
+    /// <summary>
+    /// Z component
+    /// </summary>
+    public double Z { get; set; }
+
+    /// <summary>
+    /// W component (scalar part)
+    /// </summary>
+    public double W { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public Quaternion()
+    {
+        X = 0.0;
+        Y = 0.0;
+        Z = 0.0;
+        W = 1.0; // Identity quaternion
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public Quaternion(double x, double y, double z, double w)
+    {
+        X = x;
+        Y = y;
+        Z = z;
+        W = w;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/QuaternionStamped.cs

@@ -0,0 +1,39 @@
+using RobotNet10.Shared.Numbers;
+
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// QuaternionStamped message (geometry_msgs/QuaternionStamped)
+/// A Quaternion with reference coordinate frame and timestamp
+/// </summary>
+public struct QuaternionStamped
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Quaternion
+    /// </summary>
+    public Quaternion Quaternion { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public QuaternionStamped()
+    {
+        Header = new Header();
+        Quaternion = new Quaternion();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public QuaternionStamped(Header header, Quaternion quaternion)
+    {
+        Header = header;
+        Quaternion = quaternion;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/Transform.cs

@@ -0,0 +1,39 @@
+using RobotNet10.Shared.Numbers;
+
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// Transform message (geometry_msgs/Transform)
+/// Represents a transform between two coordinate frames in free space
+/// </summary>
+public struct Transform
+{
+    /// <summary>
+    /// Translation (Vector3)
+    /// </summary>
+    public Vector3 Translation { get; set; }
+
+    /// <summary>
+    /// Rotation (Quaternion)
+    /// </summary>
+    public Quaternion Rotation { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public Transform()
+    {
+        Translation = new Vector3();
+        Rotation = new Quaternion();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public Transform(Vector3 translation, Quaternion rotation)
+    {
+        Translation = translation;
+        Rotation = rotation;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/TransformStamped.cs

@@ -0,0 +1,44 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// TransformStamped message (geometry_msgs/TransformStamped)
+/// A Transform with reference coordinate frame and timestamp
+/// </summary>
+public struct TransformStamped
+{
+    /// <summary>
+    /// Header with timestamp and frame ID (child_frame_id is stored in frame_id)
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Child frame ID (the frame being transformed to)
+    /// </summary>
+    public string ChildFrameId { get; set; }
+
+    /// <summary>
+    /// Transform
+    /// </summary>
+    public Transform Transform { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public TransformStamped()
+    {
+        Header = new Header();
+        ChildFrameId = string.Empty;
+        Transform = new Transform();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public TransformStamped(Header header, string childFrameId, Transform transform)
+    {
+        Header = header;
+        ChildFrameId = childFrameId;
+        Transform = transform;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/Twist.cs

@@ -0,0 +1,39 @@
+using RobotNet10.Shared.Numbers;
+
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// Twist message (geometry_msgs/Twist)
+/// Expresses velocity in free space broken into its linear and angular parts
+/// </summary>
+public struct Twist
+{
+    /// <summary>
+    /// Linear velocity (Vector3)
+    /// </summary>
+    public Vector3 Linear { get; set; }
+
+    /// <summary>
+    /// Angular velocity (Vector3)
+    /// </summary>
+    public Vector3 Angular { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public Twist()
+    {
+        Linear = new Vector3();
+        Angular = new Vector3();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public Twist(Vector3 linear, Vector3 angular)
+    {
+        Linear = linear;
+        Angular = angular;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/TwistStamped.cs

@@ -0,0 +1,37 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// TwistStamped message (geometry_msgs/TwistStamped)
+/// A Twist with reference coordinate frame and timestamp
+/// </summary>
+public struct TwistStamped
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Twist
+    /// </summary>
+    public Twist Twist { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public TwistStamped()
+    {
+        Header = new Header();
+        Twist = new Twist();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public TwistStamped(Header header, Twist twist)
+    {
+        Header = header;
+        Twist = twist;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/TwistWithCovariance.cs

@@ -0,0 +1,49 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// TwistWithCovariance message (geometry_msgs/TwistWithCovariance)
+/// A Twist with associated covariance matrix
+/// </summary>
+public struct TwistWithCovariance
+{
+    /// <summary>
+    /// Twist
+    /// </summary>
+    public Twist Twist { get; set; }
+
+    /// <summary>
+    /// Covariance matrix (row-major order)
+    /// The orientation parameters use a fixed-axis representation.
+    /// In order, the parameters are:
+    /// (vx, vy, vz, wx, wy, wz)
+    /// </summary>
+    public double[] Covariance { get; set; }
+
+    /// <summary>
+    /// Size of covariance matrix (6x6 = 36 elements)
+    /// </summary>
+    public const int CovarianceSize = 36;
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public TwistWithCovariance()
+    {
+        Twist = new Twist();
+        Covariance = new double[CovarianceSize];
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public TwistWithCovariance(Twist twist, double[] covariance)
+    {
+        Twist = twist;
+        if (covariance == null || covariance.Length != CovarianceSize)
+        {
+            throw new ArgumentException($"Covariance array must have {CovarianceSize} elements", nameof(covariance));
+        }
+        Covariance = covariance;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/TwistWithCovarianceStamped.cs

@@ -0,0 +1,37 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// TwistWithCovarianceStamped message (geometry_msgs/TwistWithCovarianceStamped)
+/// A TwistWithCovariance with reference coordinate frame and timestamp
+/// </summary>
+public struct TwistWithCovarianceStamped
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Twist with covariance
+    /// </summary>
+    public TwistWithCovariance Twist { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public TwistWithCovarianceStamped()
+    {
+        Header = new Header();
+        Twist = new TwistWithCovariance();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public TwistWithCovarianceStamped(Header header, TwistWithCovariance twist)
+    {
+        Header = header;
+        Twist = twist;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/Vector3.cs

@@ -0,0 +1,44 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// Vector3 message (geometry_msgs/Vector3)
+/// Represents a vector in free space
+/// </summary>
+public struct Vector3
+{
+    /// <summary>
+    /// X component
+    /// </summary>
+    public double X { get; set; }
+
+    /// <summary>
+    /// Y component
+    /// </summary>
+    public double Y { get; set; }
+
+    /// <summary>
+    /// Z component
+    /// </summary>
+    public double Z { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public Vector3()
+    {
+        X = 0.0;
+        Y = 0.0;
+        Z = 0.0;
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public Vector3(double x, double y, double z)
+    {
+        X = x;
+        Y = y;
+        Z = z;
+    }
+}
+

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/Vector3Stamped.cs

@@ -0,0 +1,39 @@
+using RobotNet10.Shared.Numbers;
+
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// Vector3Stamped message (geometry_msgs/Vector3Stamped)
+/// A Vector3 with reference coordinate frame and timestamp
+/// </summary>
+public struct Vector3Stamped
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Vector3
+    /// </summary>
+    public Vector3 Vector { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public Vector3Stamped()
+    {
+        Header = new Header();
+        Vector = new Vector3();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public Vector3Stamped(Header header, Vector3 vector)
+    {
+        Header = header;
+        Vector = vector;
+    }
+}
+