134 lines
3.9 KiB
C#
134 lines
3.9 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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using CartographerSharp.Models.Transform;
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namespace CartographerSharp.Models.Mapping;
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/// <summary>
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/// Active area of the submap.
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/// </summary>
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public struct ActiveArea
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{
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[JsonPropertyName("min_x")]
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public double MinX { get; set; }
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[JsonPropertyName("min_y")]
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public double MinY { get; set; }
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[JsonPropertyName("max_x")]
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public double MaxX { get; set; }
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[JsonPropertyName("max_y")]
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public double MaxY { get; set; }
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[JsonPropertyName("origin")]
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public Rigid3dProto Origin { get; set; }
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public ActiveArea(double minX, double minY, double maxX, double maxY, Rigid3dProto origin)
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{
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MinX = minX;
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MinY = minY;
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MaxX = maxX;
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MaxY = maxY;
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Origin = origin;
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}
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}
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/// <summary>
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/// Serialized state of a Submap2D.
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/// </summary>
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public struct Submap2D
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{
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[JsonPropertyName("local_pose")]
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public Rigid3dProto LocalPose { get; set; }
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[JsonPropertyName("num_range_data")]
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public int NumRangeData { get; set; }
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[JsonPropertyName("finished")]
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public bool Finished { get; set; }
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[JsonPropertyName("grid")]
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[JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
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public Grid2D? Grid { get; set; }
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[JsonPropertyName("active_area")]
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[JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
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public ActiveArea? ActiveArea { get; set; }
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[JsonPropertyName("merged_from_others")]
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public bool MergedFromOthers { get; set; }
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public Submap2D(
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Rigid3dProto localPose,
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int numRangeData,
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bool finished,
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Grid2D? grid = null,
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ActiveArea? activeArea = null,
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bool mergedFromOthers = false)
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{
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LocalPose = localPose;
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NumRangeData = numRangeData;
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Finished = finished;
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Grid = grid;
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ActiveArea = activeArea;
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MergedFromOthers = mergedFromOthers;
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}
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}
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/// <summary>
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/// Serialized state of a Submap3D.
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/// </summary>
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public struct Submap3D
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{
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[JsonPropertyName("local_pose")]
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public Rigid3dProto LocalPose { get; set; }
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[JsonPropertyName("num_range_data")]
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public int NumRangeData { get; set; }
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[JsonPropertyName("finished")]
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public bool Finished { get; set; }
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[JsonPropertyName("high_resolution_hybrid_grid")]
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public HybridGrid HighResolutionHybridGrid { get; set; }
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[JsonPropertyName("low_resolution_hybrid_grid")]
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public HybridGrid LowResolutionHybridGrid { get; set; }
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[JsonPropertyName("rotational_scan_matcher_histogram")]
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public List<double> RotationalScanMatcherHistogram { get; set; }
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public Submap3D(
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Rigid3dProto localPose,
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int numRangeData,
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bool finished,
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HybridGrid highResolutionHybridGrid,
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HybridGrid lowResolutionHybridGrid,
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List<double>? rotationalScanMatcherHistogram = null)
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{
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LocalPose = localPose;
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NumRangeData = numRangeData;
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Finished = finished;
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HighResolutionHybridGrid = highResolutionHybridGrid;
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LowResolutionHybridGrid = lowResolutionHybridGrid;
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RotationalScanMatcherHistogram = rotationalScanMatcherHistogram ?? new List<double>();
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}
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}
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