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srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Sensor/LandmarkData.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>
+/// Landmark observation structure.
+/// </summary>
+public struct LandmarkObservation(string id, Rigid3d landmarkToTrackingTransform, double translationWeight, double rotationWeight)
+{
+    public string Id { get; set; } = id;
+    public Rigid3d LandmarkToTrackingTransform { get; set; } = landmarkToTrackingTransform;
+    public double TranslationWeight { get; set; } = translationWeight;
+    public double RotationWeight { get; set; } = rotationWeight;
+}
+
+/// <summary>
+/// Landmark data structure.
+/// </summary>
+public struct LandmarkData(long time, List<LandmarkObservation>? landmarkObservations = null)
+{
+    public long Time { get; set; } = time;
+    public List<LandmarkObservation> LandmarkObservations { get; set; } = landmarkObservations ?? [];
+}
+
+/// <summary>
+/// Operations on LandmarkData.
+/// </summary>
+public static class LandmarkDataOperations
+{
+    /// <summary>
+    /// Converts 'landmark_data' to a proto::LandmarkData.
+    /// </summary>
+    public static Models.Sensor.LandmarkData ToProto(LandmarkData landmarkData)
+    {
+        var proto = new Models.Sensor.LandmarkData(landmarkData.Time, []);
+
+        foreach (var observation in landmarkData.LandmarkObservations)
+        {
+            proto.LandmarkObservations.Add(new Models.Sensor.LandmarkData.LandmarkObservation(
+                System.Text.Encoding.UTF8.GetBytes(observation.Id),
+                (Rigid3dProto)observation.LandmarkToTrackingTransform,
+                observation.TranslationWeight,
+                observation.RotationWeight
+            ));
+        }
+
+        return proto;
+    }
+
+    /// <summary>
+    /// Converts 'proto' to an LandmarkData.
+    /// </summary>
+    public static LandmarkData FromProto(Models.Sensor.LandmarkData proto)
+    {
+        var observations = new List<LandmarkObservation>();
+        foreach (var protoObservation in proto.LandmarkObservations)
+        {
+            observations.Add(new LandmarkObservation(
+                System.Text.Encoding.UTF8.GetString(protoObservation.Id),
+                (Rigid3d)protoObservation.LandmarkToTrackingTransform,
+                protoObservation.TranslationWeight,
+                protoObservation.RotationWeight
+            ));
+        }
+
+        return new LandmarkData(proto.Timestamp, observations);
+    }
+}