61 lines
2.1 KiB
C#
61 lines
2.1 KiB
C#
/*
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* Copyright 2017 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 CartographerSharp.Models.Transform;
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using RobotNet10.Shared.Numbers;
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namespace CartographerSharp.Sensor;
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/// <summary>
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/// IMU data structure.
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/// </summary>
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public struct ImuData(long time, Vector3 linearAcceleration, Vector3 angularVelocity)
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{
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public long Time { get; set; } = time;
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public Vector3 LinearAcceleration { get; set; } = linearAcceleration;
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public Vector3 AngularVelocity { get; set; } = angularVelocity;
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}
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/// <summary>
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/// Operations on ImuData.
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/// </summary>
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public static class ImuDataOperations
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{
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/// <summary>
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/// Converts 'imu_data' to a proto::ImuData.
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/// </summary>
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public static Models.Sensor.ImuData ToProto(ImuData imuData)
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{
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return new Models.Sensor.ImuData(
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imuData.Time,
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new Vector3d(imuData.LinearAcceleration.X, imuData.LinearAcceleration.Y, imuData.LinearAcceleration.Z),
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new Vector3d(imuData.AngularVelocity.X, imuData.AngularVelocity.Y, imuData.AngularVelocity.Z)
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);
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}
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/// <summary>
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/// Converts 'proto' to an ImuData.
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/// </summary>
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public static ImuData FromProto(Models.Sensor.ImuData proto)
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{
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return new ImuData(
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proto.Timestamp,
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new Vector3(proto.LinearAcceleration.X, proto.LinearAcceleration.Y, proto.LinearAcceleration.Z),
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new Vector3(proto.AngularVelocity.X, proto.AngularVelocity.Y, proto.AngularVelocity.Z)
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);
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}
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}
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