Initial commit

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

@@ -0,0 +1,268 @@
+/*
+ * 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;
+using CartographerSharp.Models.Sensor;
+using CartographerSharp.Models.Transform;
+
+namespace CartographerSharp.Models.Mapping;
+
+/// <summary>
+/// Header of the serialization format. At the moment it only contains the version of the format.
+/// </summary>
+public struct SerializationHeader
+{
+    [JsonPropertyName("format_version")]
+    public uint FormatVersion { get; set; }
+
+    public SerializationHeader(uint formatVersion)
+    {
+        FormatVersion = formatVersion;
+    }
+}
+
+/// <summary>
+/// Protocol buffer representation of a Submap with ID.
+/// </summary>
+public struct Submap
+{
+    [JsonPropertyName("submap_id")]
+    public PoseGraph.SubmapId SubmapId { get; set; }
+
+    [JsonPropertyName("submap_2d")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public Submap2D? Submap2D { get; set; }
+
+    [JsonPropertyName("submap_3d")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public Submap3D? Submap3D { get; set; }
+
+    public Submap(PoseGraph.SubmapId submapId, Submap2D? submap2D = null, Submap3D? submap3D = null)
+    {
+        SubmapId = submapId;
+        Submap2D = submap2D;
+        Submap3D = submap3D;
+    }
+}
+
+/// <summary>
+/// Protocol buffer representation of a Node with ID.
+/// </summary>
+public struct Node
+{
+    [JsonPropertyName("node_id")]
+    public PoseGraph.NodeId NodeId { get; set; }
+
+    [JsonPropertyName("node_data")]
+    public TrajectoryNodeData NodeData { get; set; }
+
+    public Node(PoseGraph.NodeId nodeId, TrajectoryNodeData nodeData)
+    {
+        NodeId = nodeId;
+        NodeData = nodeData;
+    }
+}
+
+/// <summary>
+/// IMU data with trajectory ID for serialization.
+/// </summary>
+public struct SerializedImuData
+{
+    [JsonPropertyName("trajectory_id")]
+    public int TrajectoryId { get; set; }
+
+    [JsonPropertyName("imu_data")]
+    public Sensor.ImuData ImuDataValue { get; set; }
+
+    public SerializedImuData(int trajectoryId, Sensor.ImuData imuData)
+    {
+        TrajectoryId = trajectoryId;
+        ImuDataValue = imuData;
+    }
+}
+
+/// <summary>
+/// Odometry data with trajectory ID for serialization.
+/// </summary>
+public struct SerializedOdometryData
+{
+    [JsonPropertyName("trajectory_id")]
+    public int TrajectoryId { get; set; }
+
+    [JsonPropertyName("odometry_data")]
+    public Sensor.OdometryData OdometryDataValue { get; set; }
+
+    public SerializedOdometryData(int trajectoryId, Sensor.OdometryData odometryData)
+    {
+        TrajectoryId = trajectoryId;
+        OdometryDataValue = odometryData;
+    }
+}
+
+/// <summary>
+/// Fixed frame pose data with trajectory ID for serialization.
+/// </summary>
+public struct SerializedFixedFramePoseData
+{
+    [JsonPropertyName("trajectory_id")]
+    public int TrajectoryId { get; set; }
+
+    [JsonPropertyName("fixed_frame_pose_data")]
+    public Sensor.FixedFramePoseData FixedFramePoseDataValue { get; set; }
+
+    public SerializedFixedFramePoseData(int trajectoryId, Sensor.FixedFramePoseData fixedFramePoseData)
+    {
+        TrajectoryId = trajectoryId;
+        FixedFramePoseDataValue = fixedFramePoseData;
+    }
+}
+
+/// <summary>
+/// Landmark data with trajectory ID for serialization.
+/// </summary>
+public struct SerializedLandmarkData
+{
+    [JsonPropertyName("trajectory_id")]
+    public int TrajectoryId { get; set; }
+
+    [JsonPropertyName("landmark_data")]
+    public Sensor.LandmarkData LandmarkDataValue { get; set; }
+
+    public SerializedLandmarkData(int trajectoryId, Sensor.LandmarkData landmarkData)
+    {
+        TrajectoryId = trajectoryId;
+        LandmarkDataValue = landmarkData;
+    }
+}
+
+/// <summary>
+/// Trajectory data for serialization.
+/// </summary>
+public struct SerializedTrajectoryData
+{
+    [JsonPropertyName("trajectory_id")]
+    public int TrajectoryId { get; set; }
+
+    [JsonPropertyName("gravity_constant")]
+    public double GravityConstant { get; set; }
+
+    [JsonPropertyName("imu_calibration")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public Quaterniond? ImuCalibration { get; set; }
+
+    [JsonPropertyName("fixed_frame_origin_in_map")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public Rigid3dProto? FixedFrameOriginInMap { get; set; }
+
+    public SerializedTrajectoryData(int trajectoryId, double gravityConstant, Quaterniond? imuCalibration = null, Rigid3dProto? fixedFrameOriginInMap = null)
+    {
+        TrajectoryId = trajectoryId;
+        GravityConstant = gravityConstant;
+        ImuCalibration = imuCalibration;
+        FixedFrameOriginInMap = fixedFrameOriginInMap;
+    }
+}
+
+/// <summary>
+/// Stop station data for serialization.
+/// </summary>
+public struct StopStationData
+{
+    [JsonPropertyName("id")]
+    public int Id { get; set; }
+
+    [JsonPropertyName("time")]
+    public long Time { get; set; }
+
+    [JsonPropertyName("local_pose")]
+    public Rigid3dProto LocalPose { get; set; }
+
+    public StopStationData(int id, long time, Rigid3dProto localPose)
+    {
+        Id = id;
+        Time = time;
+        LocalPose = localPose;
+    }
+}
+
+/// <summary>
+/// Accurate submap for serialization (different from PoseGraph.AccurateSubmap).
+/// </summary>
+public struct SerializedAccurateSubmap
+{
+    [JsonPropertyName("submap")]
+    public Submap Submap { get; set; }
+
+    [JsonPropertyName("stop_stations")]
+    public List<StopStationData> StopStations { get; set; }
+
+    public SerializedAccurateSubmap(Submap submap, List<StopStationData>? stopStations = null)
+    {
+        Submap = submap;
+        StopStations = stopStations ?? new List<StopStationData>();
+    }
+}
+
+/// <summary>
+/// Serialized data container (oneof in proto).
+/// </summary>
+public struct SerializedData
+{
+    [JsonPropertyName("serialization_header")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public SerializationHeader? SerializationHeader { get; set; }
+
+    [JsonPropertyName("pose_graph")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public PoseGraph? PoseGraph { get; set; }
+
+    [JsonPropertyName("all_trajectory_builder_options")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public AllTrajectoryBuilderOptions? AllTrajectoryBuilderOptions { get; set; }
+
+    [JsonPropertyName("submap")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public Submap? Submap { get; set; }
+
+    [JsonPropertyName("node")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public Node? Node { get; set; }
+
+    [JsonPropertyName("trajectory_data")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public SerializedTrajectoryData? SerializedTrajectoryData { get; set; }
+
+    [JsonPropertyName("imu_data")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public SerializedImuData? ImuData { get; set; }
+
+    [JsonPropertyName("odometry_data")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public SerializedOdometryData? OdometryData { get; set; }
+
+    [JsonPropertyName("fixed_frame_pose_data")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public SerializedFixedFramePoseData? FixedFramePoseData { get; set; }
+
+    [JsonPropertyName("landmark_data")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public SerializedLandmarkData? LandmarkData { get; set; }
+
+    [JsonPropertyName("accurate_submap")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public SerializedAccurateSubmap? AccurateSubmap { get; set; }
+}