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srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Sensor/ImuData.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  RobotNet10.Shared.Numbers;
+
+namespace CartographerSharp.Sensor;
+
+/// <summary>
+/// IMU data structure.
+/// </summary>
+public struct ImuData(long time, Vector3 linearAcceleration, Vector3 angularVelocity)
+{
+    public long Time { get; set; } = time;
+    public Vector3 LinearAcceleration { get; set; } = linearAcceleration;
+    public Vector3 AngularVelocity { get; set; } = angularVelocity;
+}
+
+/// <summary>
+/// Operations on ImuData.
+/// </summary>
+public static class ImuDataOperations
+{
+    /// <summary>
+    /// Converts 'imu_data' to a proto::ImuData.
+    /// </summary>
+    public static Models.Sensor.ImuData ToProto(ImuData imuData)
+    {
+        return new Models.Sensor.ImuData(
+            imuData.Time,
+            new Vector3d(imuData.LinearAcceleration.X, imuData.LinearAcceleration.Y, imuData.LinearAcceleration.Z),
+            new Vector3d(imuData.AngularVelocity.X, imuData.AngularVelocity.Y, imuData.AngularVelocity.Z)
+        );
+    }
+
+    /// <summary>
+    /// Converts 'proto' to an ImuData.
+    /// </summary>
+    public static ImuData FromProto(Models.Sensor.ImuData proto)
+    {
+        return new ImuData(
+            proto.Timestamp,
+            new Vector3(proto.LinearAcceleration.X, proto.LinearAcceleration.Y, proto.LinearAcceleration.Z),
+            new Vector3(proto.AngularVelocity.X, proto.AngularVelocity.Y, proto.AngularVelocity.Z)
+        );
+    }
+}