Initial commit

srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Sensor/FixedFramePoseData.cs

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+/*
+ * Copyright 2017 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 CartographerSharp.Transform;
+
+namespace CartographerSharp.Sensor;
+
+/// <summary>
+/// The fixed frame pose data (like GPS, pose, etc.) will be used in the optimization.
+/// </summary>
+public struct FixedFramePoseData(long time, Rigid3d? pose = null)
+{
+    public long Time { get; set; } = time;
+    public Rigid3d? Pose { get; set; } = pose;
+}
+
+/// <summary>
+/// Operations on FixedFramePoseData.
+/// </summary>
+public static class FixedFramePoseDataOperations
+{
+    /// <summary>
+    /// Converts 'pose_data' to a proto::FixedFramePoseData.
+    /// </summary>
+    public static Models.Sensor.FixedFramePoseData ToProto(FixedFramePoseData poseData)
+    {
+        return new Models.Sensor.FixedFramePoseData(
+            poseData.Time,
+            poseData.Pose.HasValue ? (Rigid3dProto)poseData.Pose.Value : default
+        );
+    }
+
+    /// <summary>
+    /// Converts 'proto' to an FixedFramePoseData.
+    /// </summary>
+    public static FixedFramePoseData FromProto(Models.Sensor.FixedFramePoseData proto)
+    {
+        // Check if pose is set (equivalent to proto.has_pose() in C++)
+        // In C#, since Rigid3dProto is a struct, we check if rotation quaternion is normalized
+        // (a valid quaternion should have norm close to 1, default would be all zeros)
+        Rigid3d? pose = null;
+        var rot = proto.Pose.Rotation;
+        var quatNorm = Math.Sqrt(rot.W * rot.W + rot.X * rot.X + rot.Y * rot.Y + rot.Z * rot.Z);
+        // If quaternion is normalized (or close to normalized), pose is set
+        if (quatNorm > 0.1) // Threshold to distinguish from default (0,0,0,0)
+        {
+            pose = (Rigid3d)proto.Pose;
+        }
+        
+        return new FixedFramePoseData(
+            proto.Timestamp,
+            pose
+        );
+    }
+}