Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Detection/Point2D.cs

@@ -0,0 +1,90 @@
+namespace RobotNet10.RobotApp.Detection;
+
+/// <summary>
+/// Represents a 2D point with additional laser scan metadata
+/// </summary>
+public class Point(double x, double y, double range, double alpha)
+{
+    /// <summary>
+    /// X coordinate in meters
+    /// </summary>
+    public double X { get; set; } = x;
+
+    /// <summary>
+    /// Y coordinate in meters
+    /// </summary>
+    public double Y { get; set; } = y;
+
+    /// <summary>
+    /// Range of point from Lidar sensor in meters
+    /// </summary>
+    public double Range { get; set; } = range;
+
+    /// <summary>
+    /// Angle of laser beam to the point in radians
+    /// </summary>
+    public double Alpha { get; set; } = alpha;
+
+    /// <summary>
+    /// Cluster ID assigned by clustering algorithm (-1 if unassigned)
+    /// </summary>
+    public int Cluster { get; set; } = -1;
+
+    /// <summary>
+    /// Reachability distance for OPTICS algorithm
+    /// </summary>
+    public double ReachabilityDistance { get; set; } = double.MaxValue;
+
+    /// <summary>
+    /// Whether this point has been processed by the algorithm
+    /// </summary>
+    public bool Processed { get; set; } = false;
+}
+
+/// <summary>
+/// Simple 2D point structure for cluster results
+/// </summary>
+public struct Point2D(double x, double y) : IEquatable<Point2D>, IComparable<Point2D>
+{
+    /// <summary>
+    /// X coordinate in meters
+    /// </summary>
+    public double X { get; set; } = x;
+
+    /// <summary>
+    /// Y coordinate in meters
+    /// </summary>
+    public double Y { get; set; } = y;
+
+    public readonly bool Equals(Point2D other)
+    {
+        return Math.Abs(X - other.X) < 3e-3 && Math.Abs(Y - other.Y) < 3e-3;
+    }
+
+    public override readonly bool Equals(object? obj)
+    {
+        return obj is Point2D other && Equals(other);
+    }
+
+    public override readonly int GetHashCode()
+    {
+        return HashCode.Combine(X, Y);
+    }
+
+    public readonly int CompareTo(Point2D other)
+    {
+        if (!X.Equals(other.X))
+            return X.CompareTo(other.X);
+        return Y.CompareTo(other.Y);
+    }
+
+    public static bool operator ==(Point2D left, Point2D right)
+    {
+        return left.Equals(right);
+    }
+
+    public static bool operator !=(Point2D left, Point2D right)
+    {
+        return !left.Equals(right);
+    }
+}