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/*
* Copyright (C) 2022 Open Source Robotics Foundation
*
* 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.
*
*/
use crate::{Affiliation, Group, NameInSite, Point, RefTrait};
#[cfg(feature = "bevy")]
use bevy::prelude::{Bundle, Component};
use serde::{Deserialize, Serialize};
use std::collections::HashMap;
/// Mark a point within a drawing or level to serve as a ground truth relative
/// to other drawings and levels.
#[derive(Serialize, Deserialize, Debug, Clone)]
#[cfg_attr(feature = "bevy", derive(Bundle))]
pub struct Fiducial<T: RefTrait> {
/// The anchor that represents the position of this fiducial.
pub anchor: Point<T>,
/// Affiliation of this fiducial. This affiliation must be unique within the
/// parent level or parent drawing of the fiducial.
pub affiliation: Affiliation<T>,
#[serde(skip)]
pub marker: FiducialMarker,
}
#[derive(Serialize, Deserialize, Debug, Clone)]
#[cfg_attr(feature = "bevy", derive(Bundle))]
pub struct FiducialGroup {
/// Name of this group
pub name: NameInSite,
#[serde(skip)]
pub group: Group,
#[serde(skip)]
pub marker: FiducialMarker,
}
impl FiducialGroup {
pub fn new(name: NameInSite) -> Self {
Self {
name,
group: Default::default(),
marker: Default::default(),
}
}
}
#[derive(Clone, Copy, Debug, Default)]
#[cfg_attr(feature = "bevy", derive(Component))]
pub struct FiducialMarker;
impl<T: RefTrait> Fiducial<T> {
pub fn convert<U: RefTrait>(&self, id_map: &HashMap<T, U>) -> Result<Fiducial<U>, T> {
Ok(Fiducial {
anchor: self.anchor.convert(id_map)?,
affiliation: self.affiliation.convert(id_map)?,
marker: Default::default(),
})
}
}
impl<T: RefTrait> From<Point<T>> for Fiducial<T> {
fn from(anchor: Point<T>) -> Self {
Self {
anchor,
affiliation: Default::default(),
marker: Default::default(),
}
}
}