Initial commit

srcs/RobotNet10/Shared/RobotNet10.Shared/Sensor/Range.cs

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+namespace RobotNet10.Shared.Sensor;
+
+/// <summary>
+/// Range message (sensor_msgs/Range)
+/// Single range reading from an active ranger that emits energy and reports
+/// one range reading that is valid along an arc at the distance measured.
+/// </summary>
+public struct Range
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Radiation type constants
+    /// </summary>
+    public const byte RadiationTypeUltrasound = 0;
+    public const byte RadiationTypeInfrared = 1;
+
+    /// <summary>
+    /// The type of radiation used by the sensor (RadiationType constants)
+    /// </summary>
+    public byte RadiationType { get; set; }
+
+    /// <summary>
+    /// The size of the arc that the distance reading is valid for (rad)
+    /// </summary>
+    public double FieldOfView { get; set; }
+
+    /// <summary>
+    /// Minimum range value (m)
+    /// </summary>
+    public double MinRange { get; set; }
+
+    /// <summary>
+    /// Maximum range value (m)
+    /// </summary>
+    public double MaxRange { get; set; }
+
+    /// <summary>
+    /// Range data (m)
+    /// (Note: values < range_min or > range_max should be discarded)
+    /// </summary>
+    public double RangeValue { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public Range()
+    {
+        Header = new Header();
+        RadiationType = RadiationTypeUltrasound;
+        FieldOfView = 0.0;
+        MinRange = 0.0;
+        MaxRange = 0.0;
+        RangeValue = 0.0;
+    }
+}
+