72 lines
2.1 KiB
C#
72 lines
2.1 KiB
C#
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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using System.Collections.Generic;
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using System.Text.Json.Serialization;
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namespace CartographerSharp.Models.Mapping;
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/// <summary>
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/// Protocol buffer representation of a hybrid grid.
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/// </summary>
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public struct HybridGrid
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{
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/// <summary>
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/// Resolution of the grid.
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/// </summary>
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[JsonPropertyName("resolution")]
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public double Resolution { get; set; }
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/// <summary>
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/// X indices. '{x, y, z}_indices[i]' is the index of 'values[i]'.
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/// </summary>
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[JsonPropertyName("x_indices")]
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public List<int> XIndices { get; set; }
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/// <summary>
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/// Y indices.
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/// </summary>
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[JsonPropertyName("y_indices")]
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public List<int> YIndices { get; set; }
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/// <summary>
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/// Z indices.
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/// </summary>
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[JsonPropertyName("z_indices")]
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public List<int> ZIndices { get; set; }
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/// <summary>
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/// The entries in 'values' should be uint16s, not int32s, but protos don't
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/// have a uint16 type.
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/// </summary>
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[JsonPropertyName("values")]
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public List<int> Values { get; set; }
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public HybridGrid(
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double resolution,
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List<int>? xIndices = null,
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List<int>? yIndices = null,
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List<int>? zIndices = null,
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List<int>? values = null)
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{
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Resolution = resolution;
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XIndices = xIndices ?? new List<int>();
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YIndices = yIndices ?? new List<int>();
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ZIndices = zIndices ?? new List<int>();
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Values = values ?? new List<int>();
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}
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}
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