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;
    }
}