Initial commit

srcs/RobotNet10/Shared/RobotNet10.Shared/Sensor/MagneticField.cs

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+using RobotNet10.Shared.Geometry;
+using RobotNet10.Shared.Numbers;
+
+namespace RobotNet10.Shared.Sensor;
+
+/// <summary>
+/// MagneticField message (sensor_msgs/MagneticField)
+/// Measurement of the Magnetic Field vector at a specific location
+/// </summary>
+public struct MagneticField
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Magnetic field vector in Tesla
+    /// </summary>
+    public RobotNet10.Shared.Numbers.Vector3 MagneticFieldVector { get; set; }
+
+    /// <summary>
+    /// Covariance matrix (row-major about x, y, z axes)
+    /// Size: 9 (3x3 matrix)
+    /// </summary>
+    public double[] MagneticFieldCovariance { get; set; }
+
+    /// <summary>
+    /// Size of magnetic field covariance matrix (3x3 = 9 elements)
+    /// </summary>
+    public const int MagneticFieldCovarianceSize = 9;
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public MagneticField()
+    {
+        Header = new Header();
+        MagneticFieldVector = new RobotNet10.Shared.Numbers.Vector3();
+        MagneticFieldCovariance = new double[MagneticFieldCovarianceSize];
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public MagneticField(Header header, RobotNet10.Shared.Numbers.Vector3 magneticFieldVector, double[] magneticFieldCovariance)
+    {
+        Header = header;
+        MagneticFieldVector = magneticFieldVector;
+        
+        if (magneticFieldCovariance == null || magneticFieldCovariance.Length != MagneticFieldCovarianceSize)
+        {
+            throw new ArgumentException($"Magnetic field covariance array must have {MagneticFieldCovarianceSize} elements", nameof(magneticFieldCovariance));
+        }
+        MagneticFieldCovariance = magneticFieldCovariance;
+    }
+}
+