Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/SLAM/Cartographer/CartographerExtensions.cs

@@ -0,0 +1,26 @@
+using CartographerSharp.Mapping;
+using RobotNet10.RobotApp.SLAM.Cartographer;
+
+namespace RobotNet10.RobotApp.SLAM.Cartographer;
+
+public static class CartographerExtensions
+{
+    extension(IServiceCollection services)
+    {
+        public IServiceCollection AddCartographer(IConfigurationSection configuration)
+        {
+            // Cartographer / Localization services
+            services.Configure<CartographerConfiguration>(configuration);
+
+            // Core Cartographer service (singleton - manages state machine, MapBuilder, sensor pipeline, localization, and occupancy grid)
+            // Also implements IHostedService to start automatically
+            services.AddSingleton<CartographerService>();
+            services.AddSingleton<ISLAMService>(sp => sp.GetRequiredService<CartographerService>());
+            services.AddHostedService(sp => sp.GetRequiredService<CartographerService>());
+
+            return services;
+        }
+    }
+
+    
+}