Initial commit

srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Models/Mapping/SubmapsOptions2D.cs

@@ -0,0 +1,59 @@
+/*
+ * 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 submaps options for 2D.
+/// </summary>
+public struct SubmapsOptions2D
+{
+    /// <summary>
+    /// Number of range data before adding a new submap. Each submap will get twice
+    /// the number of range data inserted: First for initialization without being
+    /// matched against, then while being matched.
+    /// </summary>
+    [JsonPropertyName("num_range_data")]
+    public int NumRangeData { get; set; }
+
+    [JsonPropertyName("grid_options_2d")]
+    public GridOptions2D GridOptions2D { get; set; }
+
+    [JsonPropertyName("range_data_inserter_options")]
+    public RangeDataInserterOptions RangeDataInserterOptions { get; set; }
+
+    /// <summary>
+    /// Optional high resolution grid options for fine-grained Ceres scan matching.
+    /// When set, a second grid at higher resolution is maintained per submap and
+    /// passed to CeresScanMatcher2D for more precise wall alignment.
+    /// </summary>
+    [JsonPropertyName("high_res_grid_options_2d")]
+    public GridOptions2D? HighResGridOptions2D { get; set; }
+
+    public SubmapsOptions2D(
+        int numRangeData,
+        GridOptions2D gridOptions2D,
+        RangeDataInserterOptions rangeDataInserterOptions,
+        GridOptions2D? highResGridOptions2D = null)
+    {
+        NumRangeData = numRangeData;
+        GridOptions2D = gridOptions2D;
+        RangeDataInserterOptions = rangeDataInserterOptions;
+        HighResGridOptions2D = highResGridOptions2D;
+    }
+}