Initial commit

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

@@ -0,0 +1,53 @@
+/*
+ * 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 range data inserter options.
+/// </summary>
+public struct RangeDataInserterOptions
+{
+    public enum RangeDataInserterType
+    {
+        InvalidInserter = 0,
+        ProbabilityGridInserter2D = 1,
+        TsdfInserter2D = 2
+    }
+
+    [JsonPropertyName("range_data_inserter_type")]
+    public RangeDataInserterType RangeDataInserterTypeValue { get; set; }
+
+    [JsonPropertyName("probability_grid_range_data_inserter_options_2d")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public ProbabilityGridRangeDataInserterOptions2D? ProbabilityGridRangeDataInserterOptions2D { get; set; }
+
+    [JsonPropertyName("tsdf_range_data_inserter_options_2d")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public TSDFRangeDataInserterOptions2D? TsdfRangeDataInserterOptions2D { get; set; }
+
+    public RangeDataInserterOptions(
+        RangeDataInserterType rangeDataInserterType,
+        ProbabilityGridRangeDataInserterOptions2D? probabilityGridRangeDataInserterOptions2D = null,
+        TSDFRangeDataInserterOptions2D? tsdfRangeDataInserterOptions2D = null)
+    {
+        RangeDataInserterTypeValue = rangeDataInserterType;
+        ProbabilityGridRangeDataInserterOptions2D = probabilityGridRangeDataInserterOptions2D;
+        TsdfRangeDataInserterOptions2D = tsdfRangeDataInserterOptions2D;
+    }
+}