53 lines
1.8 KiB
C#
53 lines
1.8 KiB
C#
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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using System.Text.Json.Serialization;
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using CartographerSharp.Models.Transform;
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namespace CartographerSharp.Models.Mapping;
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/// <summary>
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/// Protocol buffer representation of trajectory data.
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/// </summary>
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public struct TrajectoryData
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{
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[JsonPropertyName("trajectory_id")]
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public int TrajectoryId { get; set; }
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[JsonPropertyName("gravity_constant")]
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public double GravityConstant { get; set; }
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[JsonPropertyName("imu_calibration")]
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[JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
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public Quaterniond? ImuCalibration { get; set; }
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[JsonPropertyName("fixed_frame_origin_in_map")]
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[JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
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public Rigid3dProto? FixedFrameOriginInMap { get; set; }
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public TrajectoryData(
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int trajectoryId,
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double gravityConstant = 9.8,
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Quaterniond? imuCalibration = null,
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Rigid3dProto? fixedFrameOriginInMap = null)
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{
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TrajectoryId = trajectoryId;
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GravityConstant = gravityConstant;
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ImuCalibration = imuCalibration;
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FixedFrameOriginInMap = fixedFrameOriginInMap;
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}
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}
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