58 lines
1.7 KiB
C#
58 lines
1.7 KiB
C#
/*
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* Copyright 2017 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 CartographerSharp.Models.Transform;
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using CartographerSharp.Transform;
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namespace CartographerSharp.Sensor;
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/// <summary>
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/// Odometry data structure.
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/// </summary>
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public struct OdometryData(long time, Rigid3d pose)
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{
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public long Time { get; set; } = time;
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public Rigid3d Pose { get; set; } = pose;
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}
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/// <summary>
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/// Operations on OdometryData.
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/// </summary>
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public static class OdometryDataOperations
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{
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/// <summary>
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/// Converts 'odometry_data' to a proto::OdometryData.
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/// </summary>
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public static Models.Sensor.OdometryData ToProto(OdometryData odometryData)
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{
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return new Models.Sensor.OdometryData(
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odometryData.Time,
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(Rigid3dProto)odometryData.Pose
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);
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}
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/// <summary>
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/// Converts 'proto' to an OdometryData.
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/// </summary>
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public static OdometryData FromProto(Models.Sensor.OdometryData proto)
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{
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return new OdometryData(
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proto.Timestamp,
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(Rigid3d)proto.Pose
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);
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}
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}
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