Initial commit

2026-07-03 16:31:37 +07:00
commit 899c7c637d
1939 changed files with 641750 additions and 0 deletions
--- a/srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Models/Mapping/Grid2D.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Models/Mapping/Grid2D.cs
@@ -0,0 +1,101 @@
+/*
+ * Copyright 2018 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+using System.Collections.Generic;
+using System.Text.Json.Serialization;
+using System.Text.Json;
+
+namespace CartographerSharp.Models.Mapping;
+
+/// <summary>
+/// Protocol buffer representation of a 2D grid.
+/// </summary>
+public struct Grid2D
+{
+    /// <summary>
+    /// Cell box for known cells.
+    /// </summary>
+    public struct CellBox
+    {
+        [JsonPropertyName("max_x")]
+        public int MaxX { get; set; }
+
+        [JsonPropertyName("max_y")]
+        public int MaxY { get; set; }
+
+        [JsonPropertyName("min_x")]
+        public int MinX { get; set; }
+
+        [JsonPropertyName("min_y")]
+        public int MinY { get; set; }
+
+        public CellBox(int maxX, int maxY, int minX, int minY)
+        {
+            MaxX = maxX;
+            MaxY = maxY;
+            MinX = minX;
+            MinY = minY;
+        }
+    }
+
+    [JsonPropertyName("limits")]
+    public MapLimits Limits { get; set; }
+
+    /// <summary>
+    /// These values are actually int16s, but protos don't have a native int16 type.
+    /// </summary>
+    [JsonPropertyName("cells")]
+    public List<int> Cells { get; set; }
+
+    [JsonPropertyName("known_cells_box")]
+    public CellBox KnownCellsBox { get; set; }
+
+    /// <summary>
+    /// Grid type - oneof probability_grid_2d or tsdf_2d.
+    /// Using JsonPolymorphic for oneof support in System.Text.Json.
+    /// </summary>
+    [JsonPropertyName("probability_grid_2d")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public ProbabilityGrid? ProbabilityGrid2D { get; set; }
+
+    [JsonPropertyName("tsdf_2d")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public TSDF2D? Tsdf2D { get; set; }
+
+    [JsonPropertyName("min_correspondence_cost")]
+    public double MinCorrespondenceCost { get; set; }
+
+    [JsonPropertyName("max_correspondence_cost")]
+    public double MaxCorrespondenceCost { get; set; }
+
+    public Grid2D(
+        MapLimits limits,
+        List<int>? cells = null,
+        CellBox knownCellsBox = default,
+        ProbabilityGrid? probabilityGrid2D = null,
+        TSDF2D? tsdf2D = null,
+        double minCorrespondenceCost = 0.0,
+        double maxCorrespondenceCost = 0.0)
+    {
+        Limits = limits;
+        Cells = cells ?? new List<int>();
+        KnownCellsBox = knownCellsBox;
+        ProbabilityGrid2D = probabilityGrid2D;
+        Tsdf2D = tsdf2D;
+        MinCorrespondenceCost = minCorrespondenceCost;
+        MaxCorrespondenceCost = maxCorrespondenceCost;
+    }
+}