Initial commit

srcs/RobotNet10/Shared/RobotNet10.Shared/Geometry/TransformStamped.cs

@@ -0,0 +1,44 @@
+namespace RobotNet10.Shared.Geometry;
+
+/// <summary>
+/// TransformStamped message (geometry_msgs/TransformStamped)
+/// A Transform with reference coordinate frame and timestamp
+/// </summary>
+public struct TransformStamped
+{
+    /// <summary>
+    /// Header with timestamp and frame ID (child_frame_id is stored in frame_id)
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Child frame ID (the frame being transformed to)
+    /// </summary>
+    public string ChildFrameId { get; set; }
+
+    /// <summary>
+    /// Transform
+    /// </summary>
+    public Transform Transform { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public TransformStamped()
+    {
+        Header = new Header();
+        ChildFrameId = string.Empty;
+        Transform = new Transform();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public TransformStamped(Header header, string childFrameId, Transform transform)
+    {
+        Header = header;
+        ChildFrameId = childFrameId;
+        Transform = transform;
+    }
+}
+