Initial commit

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

@@ -0,0 +1,76 @@
+/*
+ * 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 submap query response.
+/// </summary>
+public struct SubmapQuery
+{
+    public struct Response
+    {
+        [JsonPropertyName("submap_version")]
+        public int SubmapVersion { get; set; }
+
+        [JsonPropertyName("textures")]
+        public List<Texture> Textures { get; set; }
+
+        [JsonPropertyName("error_message")]
+        public string? ErrorMessage { get; set; }
+
+        public Response(int submapVersion, List<Texture> textures, string? errorMessage = null)
+        {
+            SubmapVersion = submapVersion;
+            Textures = textures ?? new List<Texture>();
+            ErrorMessage = errorMessage;
+        }
+    }
+
+    public struct Texture
+    {
+        [JsonPropertyName("cells")]
+        public List<byte> Cells { get; set; }
+
+        [JsonPropertyName("width")]
+        public int Width { get; set; }
+
+        [JsonPropertyName("height")]
+        public int Height { get; set; }
+
+        [JsonPropertyName("resolution")]
+        public double Resolution { get; set; }
+
+        [JsonPropertyName("slice_pose")]
+        public Transform.Rigid3dProto SlicePose { get; set; }
+
+        public Texture(
+            List<byte> cells,
+            int width,
+            int height,
+            double resolution,
+            Transform.Rigid3dProto slicePose)
+        {
+            Cells = cells ?? new List<byte>();
+            Width = width;
+            Height = height;
+            Resolution = resolution;
+            SlicePose = slicePose;
+        }
+    }
+}