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srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Models/Sensor/AdaptiveVoxelFilterOptions.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.Sensor;
+
+/// <summary>
+/// Protocol buffer representation of adaptive voxel filter options.
+/// </summary>
+public struct AdaptiveVoxelFilterOptions(double maxLength, double minNumPoints, double maxRange)
+{
+    /// <summary>
+    /// Maximum length of a voxel edge.
+    /// </summary>
+    [JsonPropertyName("max_length")]
+    public double MaxLength { get; set; } = maxLength;
+
+    /// <summary>
+    /// If there are more points and not at least 'min_num_points' remain, the
+    /// voxel length is reduced trying to get this minimum number of points.
+    /// </summary>
+    [JsonPropertyName("min_num_points")]
+    public double MinNumPoints { get; set; } = minNumPoints;
+
+    /// <summary>
+    /// Points further away from the origin are removed.
+    /// </summary>
+    [JsonPropertyName("max_range")]
+    public double MaxRange { get; set; } = maxRange;
+}

srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Models/Sensor/Sensor.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 CartographerSharp.Models.Transform;
+using System.Text.Json.Serialization;
+
+namespace CartographerSharp.Models.Sensor;
+
+/// <summary>
+/// Protocol buffer representation of a rangefinder point.
+/// </summary>
+public struct RangefinderPoint(Vector3f position)
+{
+    [JsonPropertyName("position")]
+    public Vector3f Position { get; set; } = position;
+}
+
+/// <summary>
+/// Protocol buffer representation of a timed rangefinder point.
+/// </summary>
+public struct TimedRangefinderPoint(Vector3f position, double time)
+{
+    [JsonPropertyName("position")]
+    public Vector3f Position { get; set; } = position;
+
+    [JsonPropertyName("time")]
+    public double Time { get; set; } = time;
+}
+
+/// <summary>
+/// Compressed collection of a 3D point cloud.
+/// </summary>
+public struct CompressedPointCloud(int numPoints, List<int> pointData)
+{
+    [JsonPropertyName("num_points")]
+    public int NumPoints { get; set; } = numPoints;
+
+    [JsonPropertyName("point_data")]
+    public List<int> PointData { get; set; } = pointData ?? [];
+}
+
+/// <summary>
+/// Proto representation of ::cartographer::sensor::TimedPointCloudData.
+/// </summary>
+public struct TimedPointCloudData(
+    long timestamp,
+    Vector3f origin,
+    List<Vector4f>? pointDataLegacy = null,
+    List<TimedRangefinderPoint>? pointData = null,
+    List<double>? intensities = null)
+{
+    [JsonPropertyName("timestamp")]
+    public long Timestamp { get; set; } = timestamp;
+
+    [JsonPropertyName("origin")]
+    public Vector3f Origin { get; set; } = origin;
+
+    [JsonPropertyName("point_data_legacy")]
+    public List<Vector4f> PointDataLegacy { get; set; } = pointDataLegacy ?? [];
+
+    [JsonPropertyName("point_data")]
+    public List<TimedRangefinderPoint> PointData { get; set; } = pointData ?? [];
+
+    [JsonPropertyName("intensities")]
+    public List<double> Intensities { get; set; } = intensities ?? [];
+}
+
+/// <summary>
+/// Proto representation of ::cartographer::sensor::RangeData.
+/// </summary>
+public struct RangeData(
+    Vector3f origin,
+    List<Vector3f>? returnsLegacy = null,
+    List<Vector3f>? missesLegacy = null,
+    List<RangefinderPoint>? returns = null,
+    List<RangefinderPoint>? misses = null)
+{
+    [JsonPropertyName("origin")]
+    public Vector3f Origin { get; set; } = origin;
+
+    [JsonPropertyName("returns_legacy")]
+    public List<Vector3f> ReturnsLegacy { get; set; } = returnsLegacy ?? [];
+
+    [JsonPropertyName("misses_legacy")]
+    public List<Vector3f> MissesLegacy { get; set; } = missesLegacy ?? [];
+
+    [JsonPropertyName("returns")]
+    public List<RangefinderPoint> Returns { get; set; } = returns ?? [];
+
+    [JsonPropertyName("misses")]
+    public List<RangefinderPoint> Misses { get; set; } = misses ?? [];
+}
+
+/// <summary>
+/// Proto representation of ::cartographer::sensor::ImuData.
+/// </summary>
+public struct ImuData(long timestamp, Vector3d linearAcceleration, Vector3d angularVelocity)
+{
+    [JsonPropertyName("timestamp")]
+    public long Timestamp { get; set; } = timestamp;
+
+    [JsonPropertyName("linear_acceleration")]
+    public Vector3d LinearAcceleration { get; set; } = linearAcceleration;
+
+    [JsonPropertyName("angular_velocity")]
+    public Vector3d AngularVelocity { get; set; } = angularVelocity;
+}
+
+/// <summary>
+/// Proto representation of ::cartographer::sensor::OdometryData.
+/// </summary>
+public struct OdometryData(long timestamp, Rigid3dProto pose)
+{
+    [JsonPropertyName("timestamp")]
+    public long Timestamp { get; set; } = timestamp;
+
+    [JsonPropertyName("pose")]
+    public Rigid3dProto Pose { get; set; } = pose;
+}
+
+/// <summary>
+/// Proto representation of ::cartographer::sensor::FixedFramePoseData.
+/// </summary>
+public struct FixedFramePoseData(long timestamp, Rigid3dProto pose)
+{
+    [JsonPropertyName("timestamp")]
+    public long Timestamp { get; set; } = timestamp;
+
+    [JsonPropertyName("pose")]
+    public Rigid3dProto Pose { get; set; } = pose;
+}
+
+/// <summary>
+/// Proto representation of ::cartographer::sensor::LandmarkData.
+/// </summary>
+public struct LandmarkData(long timestamp, List<LandmarkData.LandmarkObservation>? landmarkObservations = null)
+{
+    /// <summary>
+    /// Landmark observation within LandmarkData.
+    /// </summary>
+    public struct LandmarkObservation(
+        byte[] id,
+        Rigid3dProto landmarkToTrackingTransform,
+        double translationWeight,
+        double rotationWeight)
+    {
+        [JsonPropertyName("id")]
+        public byte[] Id { get; set; } = id ?? [];
+
+        [JsonPropertyName("landmark_to_tracking_transform")]
+        public Rigid3dProto LandmarkToTrackingTransform { get; set; } = landmarkToTrackingTransform;
+
+        [JsonPropertyName("translation_weight")]
+        public double TranslationWeight { get; set; } = translationWeight;
+
+        [JsonPropertyName("rotation_weight")]
+        public double RotationWeight { get; set; } = rotationWeight;
+    }
+
+    [JsonPropertyName("timestamp")]
+    public long Timestamp { get; set; } = timestamp;
+
+    [JsonPropertyName("landmark_observations")]
+    public List<LandmarkObservation> LandmarkObservations { get; set; } = landmarkObservations ?? [];
+}