77 lines
2.3 KiB
C#
77 lines
2.3 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.Text.Json.Serialization;
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namespace CartographerSharp.Models.Mapping;
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/// <summary>
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/// Protocol buffer representation of submap query response.
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/// </summary>
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public struct SubmapQuery
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{
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public struct Response
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{
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[JsonPropertyName("submap_version")]
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public int SubmapVersion { get; set; }
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[JsonPropertyName("textures")]
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public List<Texture> Textures { get; set; }
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[JsonPropertyName("error_message")]
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public string? ErrorMessage { get; set; }
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public Response(int submapVersion, List<Texture> textures, string? errorMessage = null)
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{
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SubmapVersion = submapVersion;
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Textures = textures ?? new List<Texture>();
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ErrorMessage = errorMessage;
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}
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}
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public struct Texture
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{
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[JsonPropertyName("cells")]
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public List<byte> Cells { get; set; }
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[JsonPropertyName("width")]
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public int Width { get; set; }
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[JsonPropertyName("height")]
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public int Height { get; set; }
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[JsonPropertyName("resolution")]
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public double Resolution { get; set; }
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[JsonPropertyName("slice_pose")]
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public Transform.Rigid3dProto SlicePose { get; set; }
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public Texture(
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List<byte> cells,
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int width,
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int height,
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double resolution,
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Transform.Rigid3dProto slicePose)
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{
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Cells = cells ?? new List<byte>();
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Width = width;
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Height = height;
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Resolution = resolution;
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SlicePose = slicePose;
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}
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}
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}
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