Initial commit

2026-07-03 16:31:37 +07:00
commit 899c7c637d
1939 changed files with 641750 additions and 0 deletions
--- a/srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Models/Mapping/Submap.cs
+++ b/srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Models/Mapping/Submap.cs
@@ -0,0 +1,133 @@
+/*
+ * 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.Transform;
+
+namespace CartographerSharp.Models.Mapping;
+
+/// <summary>
+/// Active area of the submap.
+/// </summary>
+public struct ActiveArea
+{
+    [JsonPropertyName("min_x")]
+    public double MinX { get; set; }
+
+    [JsonPropertyName("min_y")]
+    public double MinY { get; set; }
+
+    [JsonPropertyName("max_x")]
+    public double MaxX { get; set; }
+
+    [JsonPropertyName("max_y")]
+    public double MaxY { get; set; }
+
+    [JsonPropertyName("origin")]
+    public Rigid3dProto Origin { get; set; }
+
+    public ActiveArea(double minX, double minY, double maxX, double maxY, Rigid3dProto origin)
+    {
+        MinX = minX;
+        MinY = minY;
+        MaxX = maxX;
+        MaxY = maxY;
+        Origin = origin;
+    }
+}
+
+/// <summary>
+/// Serialized state of a Submap2D.
+/// </summary>
+public struct Submap2D
+{
+    [JsonPropertyName("local_pose")]
+    public Rigid3dProto LocalPose { get; set; }
+
+    [JsonPropertyName("num_range_data")]
+    public int NumRangeData { get; set; }
+
+    [JsonPropertyName("finished")]
+    public bool Finished { get; set; }
+
+    [JsonPropertyName("grid")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public Grid2D? Grid { get; set; }
+
+    [JsonPropertyName("active_area")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public ActiveArea? ActiveArea { get; set; }
+
+    [JsonPropertyName("merged_from_others")]
+    public bool MergedFromOthers { get; set; }
+
+    public Submap2D(
+        Rigid3dProto localPose,
+        int numRangeData,
+        bool finished,
+        Grid2D? grid = null,
+        ActiveArea? activeArea = null,
+        bool mergedFromOthers = false)
+    {
+        LocalPose = localPose;
+        NumRangeData = numRangeData;
+        Finished = finished;
+        Grid = grid;
+        ActiveArea = activeArea;
+        MergedFromOthers = mergedFromOthers;
+    }
+}
+
+/// <summary>
+/// Serialized state of a Submap3D.
+/// </summary>
+public struct Submap3D
+{
+    [JsonPropertyName("local_pose")]
+    public Rigid3dProto LocalPose { get; set; }
+
+    [JsonPropertyName("num_range_data")]
+    public int NumRangeData { get; set; }
+
+    [JsonPropertyName("finished")]
+    public bool Finished { get; set; }
+
+    [JsonPropertyName("high_resolution_hybrid_grid")]
+    public HybridGrid HighResolutionHybridGrid { get; set; }
+
+    [JsonPropertyName("low_resolution_hybrid_grid")]
+    public HybridGrid LowResolutionHybridGrid { get; set; }
+
+    [JsonPropertyName("rotational_scan_matcher_histogram")]
+    public List<double> RotationalScanMatcherHistogram { get; set; }
+
+    public Submap3D(
+        Rigid3dProto localPose,
+        int numRangeData,
+        bool finished,
+        HybridGrid highResolutionHybridGrid,
+        HybridGrid lowResolutionHybridGrid,
+        List<double>? rotationalScanMatcherHistogram = null)
+    {
+        LocalPose = localPose;
+        NumRangeData = numRangeData;
+        Finished = finished;
+        HighResolutionHybridGrid = highResolutionHybridGrid;
+        LowResolutionHybridGrid = lowResolutionHybridGrid;
+        RotationalScanMatcherHistogram = rotationalScanMatcherHistogram ?? new List<double>();
+    }
+}