Initial commit

srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Models/Mapping/TSDF2D.cs

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+/*
+ * Copyright 2018 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.Collections.Generic;
+using System.Text.Json.Serialization;
+
+namespace CartographerSharp.Models.Mapping;
+
+/// <summary>
+/// Protocol buffer representation of TSDF2D grid.
+/// </summary>
+public struct TSDF2D
+{
+    [JsonPropertyName("truncation_distance")]
+    public double TruncationDistance { get; set; }
+
+    [JsonPropertyName("max_weight")]
+    public double MaxWeight { get; set; }
+
+    [JsonPropertyName("weight_cells")]
+    public List<int> WeightCells { get; set; }
+
+    public TSDF2D(double truncationDistance, double maxWeight, List<int>? weightCells = null)
+    {
+        TruncationDistance = truncationDistance;
+        MaxWeight = maxWeight;
+        WeightCells = weightCells ?? new List<int>();
+    }
+}