Initial commit

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

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+/*
+ * Copyright 2016 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;
+
+namespace CartographerSharp.Models.Mapping;
+
+/// <summary>
+/// Protocol buffer representation of a hybrid grid.
+/// </summary>
+public struct HybridGrid
+{
+    /// <summary>
+    /// Resolution of the grid.
+    /// </summary>
+    [JsonPropertyName("resolution")]
+    public double Resolution { get; set; }
+
+    /// <summary>
+    /// X indices. '{x, y, z}_indices[i]' is the index of 'values[i]'.
+    /// </summary>
+    [JsonPropertyName("x_indices")]
+    public List<int> XIndices { get; set; }
+
+    /// <summary>
+    /// Y indices.
+    /// </summary>
+    [JsonPropertyName("y_indices")]
+    public List<int> YIndices { get; set; }
+
+    /// <summary>
+    /// Z indices.
+    /// </summary>
+    [JsonPropertyName("z_indices")]
+    public List<int> ZIndices { get; set; }
+
+    /// <summary>
+    /// The entries in 'values' should be uint16s, not int32s, but protos don't
+    /// have a uint16 type.
+    /// </summary>
+    [JsonPropertyName("values")]
+    public List<int> Values { get; set; }
+
+    public HybridGrid(
+        double resolution,
+        List<int>? xIndices = null,
+        List<int>? yIndices = null,
+        List<int>? zIndices = null,
+        List<int>? values = null)
+    {
+        Resolution = resolution;
+        XIndices = xIndices ?? new List<int>();
+        YIndices = yIndices ?? new List<int>();
+        ZIndices = zIndices ?? new List<int>();
+        Values = values ?? new List<int>();
+    }
+}