Initial commit

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

@@ -0,0 +1,70 @@
+/*
+ * Copyright 2017 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>
+/// Serialized state of a mapping::TrajectoryNode::Data.
+/// </summary>
+public struct TrajectoryNodeData
+{
+    [JsonPropertyName("timestamp")]
+    public long Timestamp { get; set; }
+
+    [JsonPropertyName("gravity_alignment")]
+    public Quaterniond GravityAlignment { get; set; }
+
+    [JsonPropertyName("filtered_gravity_aligned_point_cloud")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public CompressedPointCloud? FilteredGravityAlignedPointCloud { get; set; }
+
+    [JsonPropertyName("high_resolution_point_cloud")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public CompressedPointCloud? HighResolutionPointCloud { get; set; }
+
+    [JsonPropertyName("low_resolution_point_cloud")]
+    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
+    public CompressedPointCloud? LowResolutionPointCloud { get; set; }
+
+    [JsonPropertyName("rotational_scan_matcher_histogram")]
+    public List<double>? RotationalScanMatcherHistogram { get; set; }
+
+    [JsonPropertyName("local_pose")]
+    public Rigid3dProto LocalPose { get; set; }
+
+    public TrajectoryNodeData(
+        long timestamp,
+        Quaterniond gravityAlignment,
+        Rigid3dProto localPose,
+        CompressedPointCloud? filteredGravityAlignedPointCloud = null,
+        CompressedPointCloud? highResolutionPointCloud = null,
+        CompressedPointCloud? lowResolutionPointCloud = null,
+        List<double>? rotationalScanMatcherHistogram = null)
+    {
+        Timestamp = timestamp;
+        GravityAlignment = gravityAlignment;
+        LocalPose = localPose;
+        FilteredGravityAlignedPointCloud = filteredGravityAlignedPointCloud;
+        HighResolutionPointCloud = highResolutionPointCloud;
+        LowResolutionPointCloud = lowResolutionPointCloud;
+        RotationalScanMatcherHistogram = rotationalScanMatcherHistogram;
+    }
+}