Initial commit

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

@@ -0,0 +1,60 @@
+/*
+ * 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.Text.Json.Serialization;
+
+namespace CartographerSharp.Models.Mapping;
+
+/// <summary>
+/// Protocol buffer representation of map builder options.
+/// </summary>
+public struct MapBuilderOptions
+{
+    [JsonPropertyName("use_trajectory_builder_2d")]
+    public bool UseTrajectoryBuilder2D { get; set; }
+
+    [JsonPropertyName("use_trajectory_builder_3d")]
+    public bool UseTrajectoryBuilder3D { get; set; }
+
+    /// <summary>
+    /// Number of threads to use for background computations.
+    /// </summary>
+    [JsonPropertyName("num_background_threads")]
+    public int NumBackgroundThreads { get; set; }
+
+    [JsonPropertyName("pose_graph_options")]
+    public PoseGraphOptions PoseGraphOptions { get; set; }
+
+    /// <summary>
+    /// Sort sensor input independently for each trajectory.
+    /// </summary>
+    [JsonPropertyName("collate_by_trajectory")]
+    public bool CollateByTrajectory { get; set; }
+
+    public MapBuilderOptions(
+        bool useTrajectoryBuilder2D = true,
+        bool useTrajectoryBuilder3D = false,
+        int numBackgroundThreads = 4,
+        PoseGraphOptions? poseGraphOptions = null,
+        bool collateByTrajectory = false)
+    {
+        UseTrajectoryBuilder2D = useTrajectoryBuilder2D;
+        UseTrajectoryBuilder3D = useTrajectoryBuilder3D;
+        NumBackgroundThreads = numBackgroundThreads;
+        PoseGraphOptions = poseGraphOptions ?? new PoseGraphOptions();
+        CollateByTrajectory = collateByTrajectory;
+    }
+}