57 lines
1.9 KiB
C#
57 lines
1.9 KiB
C#
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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using System.Text.Json.Serialization;
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namespace CartographerSharp.Models.Mapping;
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/// <summary>
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/// Protocol buffer representation of probability grid range data inserter options for 2D.
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/// </summary>
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public struct ProbabilityGridRangeDataInserterOptions2D
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{
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/// <summary>
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/// Probability change for a hit (this will be converted to odds and therefore
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/// must be greater than 0.5).
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/// </summary>
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[JsonPropertyName("hit_probability")]
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public double HitProbability { get; set; }
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/// <summary>
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/// Probability change for a miss (this will be converted to odds and therefore
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/// must be less than 0.5).
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/// </summary>
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[JsonPropertyName("miss_probability")]
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public double MissProbability { get; set; }
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/// <summary>
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/// If 'false', free space will not change the probabilities in the occupancy
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/// grid.
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/// </summary>
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[JsonPropertyName("insert_free_space")]
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public bool InsertFreeSpace { get; set; }
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public ProbabilityGridRangeDataInserterOptions2D(
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double hitProbability,
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double missProbability,
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bool insertFreeSpace = true)
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{
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HitProbability = hitProbability;
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MissProbability = missProbability;
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InsertFreeSpace = insertFreeSpace;
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}
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}
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