Initial commit

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

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+/*
+ * Copyright 2016 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.Text.Json.Serialization;
+
+namespace CartographerSharp.Models.Mapping;
+
+/// <summary>
+/// Protocol buffer representation of constraint builder options.
+/// </summary>
+public struct ConstraintBuilderOptions
+{
+    /// <summary>
+    /// A constraint will be added if the proportion of added constraints to
+    /// potential constraints drops below this number.
+    /// </summary>
+    [JsonPropertyName("sampling_ratio")]
+    public double SamplingRatio { get; set; }
+
+    /// <summary>
+    /// Threshold for poses to be considered near a submap.
+    /// </summary>
+    [JsonPropertyName("max_constraint_distance")]
+    public double MaxConstraintDistance { get; set; }
+
+    /// <summary>
+    /// Threshold for the scan match score below which a match is not considered.
+    /// Low scores indicate that the scan and map do not look similar.
+    /// </summary>
+    [JsonPropertyName("min_score")]
+    public double MinScore { get; set; }
+
+    /// <summary>
+    /// Threshold below which global localizations are not trusted.
+    /// </summary>
+    [JsonPropertyName("global_localization_min_score")]
+    public double GlobalLocalizationMinScore { get; set; }
+
+    /// <summary>
+    /// Weight used in the optimization problem for the translational component of
+    /// loop closure constraints.
+    /// </summary>
+    [JsonPropertyName("loop_closure_translation_weight")]
+    public double LoopClosureTranslationWeight { get; set; }
+
+    /// <summary>
+    /// Weight used in the optimization problem for the rotational component of
+    /// loop closure constraints.
+    /// </summary>
+    [JsonPropertyName("loop_closure_rotation_weight")]
+    public double LoopClosureRotationWeight { get; set; }
+
+    /// <summary>
+    /// If enabled, logs information of loop-closing constraints for debugging.
+    /// </summary>
+    [JsonPropertyName("log_matches")]
+    public bool LogMatches { get; set; }
+
+    /// <summary>
+    /// Options for the fast correlative scan matcher (2D).
+    /// </summary>
+    [JsonPropertyName("fast_correlative_scan_matcher_options")]
+    public FastCorrelativeScanMatcherOptions2D? FastCorrelativeScanMatcherOptions { get; set; }
+
+    /// <summary>
+    /// Options for the Ceres scan matcher (2D).
+    /// </summary>
+    [JsonPropertyName("ceres_scan_matcher_options")]
+    public CeresScanMatcherOptions2D? CeresScanMatcherOptions { get; set; }
+
+    /// <summary>
+    /// Options for the fast correlative scan matcher (3D).
+    /// </summary>
+    [JsonPropertyName("fast_correlative_scan_matcher_options_3d")]
+    public FastCorrelativeScanMatcherOptions3D? FastCorrelativeScanMatcherOptions3D { get; set; }
+
+    /// <summary>
+    /// Options for the Ceres scan matcher (3D).
+    /// </summary>
+    [JsonPropertyName("ceres_scan_matcher_options_3d")]
+    public CeresScanMatcherOptions3D? CeresScanMatcherOptions3D { get; set; }
+
+    public ConstraintBuilderOptions()
+    {
+        SamplingRatio = 0.3;
+        MaxConstraintDistance = 15.0;
+        MinScore = 0.55;
+        GlobalLocalizationMinScore = 0.6;
+        LoopClosureTranslationWeight = 1.1e4;
+        LoopClosureRotationWeight = 1.0;
+        LogMatches = true;
+    }
+}