Initial commit

srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Models/Mapping/GridOptions2D.cs

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+/*
+ * 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.Text.Json.Serialization;
+
+namespace CartographerSharp.Models.Mapping;
+
+/// <summary>
+/// Protocol buffer representation of grid options for 2D.
+/// </summary>
+public struct GridOptions2D
+{
+    public enum GridType
+    {
+        InvalidGrid = 0,
+        ProbabilityGrid = 1,
+        Tsdf = 2
+    }
+
+    [JsonPropertyName("grid_type")]
+    public GridType GridTypeValue { get; set; }
+
+    [JsonPropertyName("resolution")]
+    public double Resolution { get; set; }
+
+    [JsonPropertyName("tsdf_options")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public TSDFOptions2D? TsdfOptions { get; set; }
+
+    public GridOptions2D(GridType gridType, double resolution, TSDFOptions2D? tsdfOptions = null)
+    {
+        GridTypeValue = gridType;
+        Resolution = resolution;
+        TsdfOptions = tsdfOptions;
+    }
+
+    /// <summary>
+    /// Options for TSDF2D grid.
+    /// </summary>
+    public struct TSDFOptions2D
+    {
+        [JsonPropertyName("truncation_distance")]
+        public double TruncationDistance { get; set; }
+
+        [JsonPropertyName("max_weight")]
+        public double MaxWeight { get; set; }
+
+        public TSDFOptions2D(double truncationDistance, double maxWeight)
+        {
+            TruncationDistance = truncationDistance;
+            MaxWeight = maxWeight;
+        }
+    }
+}