/*
 * Copyright 2016 The Cartographer Authors
 *
 * 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.
 */

using System.Text.Json.Serialization;

namespace CartographerSharp.Models.Mapping;

/// <summary>
/// Protocol buffer representation of Ceres scan matcher options for 2D.
/// </summary>
public struct CeresScanMatcherOptions2D
{
    /// <summary>
    /// Scaling parameters for each cost functor.
    /// </summary>
    [JsonPropertyName("occupied_space_weight")]
    public double OccupiedSpaceWeight { get; set; }

    [JsonPropertyName("translation_weight")]
    public double TranslationWeight { get; set; }

    [JsonPropertyName("rotation_weight")]
    public double RotationWeight { get; set; }

    /// <summary>
    /// High resolution occupied space weight.
    /// Used when matching against high resolution grid.
    /// </summary>
    [JsonPropertyName("high_res_occupied_space_weight")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public double? HighResOccupiedSpaceWeight { get; set; }

    /// <summary>
    /// High resolution translation weight.
    /// Used when matching against high resolution grid.
    /// </summary>
    [JsonPropertyName("high_res_translation_weight")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public double? HighResTranslationWeight { get; set; }

    /// <summary>
    /// High resolution rotation weight.
    /// Used when matching against high resolution grid.
    /// </summary>
    [JsonPropertyName("high_res_rotation_weight")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public double? HighResRotationWeight { get; set; }

    /// <summary>
    /// Landmark weight.
    /// Weight for landmark constraints in scan matching.
    /// </summary>
    [JsonPropertyName("landmark_weight")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public double? LandmarkWeight { get; set; }

    /// <summary>
    /// Ceres solver options.
    /// </summary>
    [JsonPropertyName("ceres_solver_options")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public Models.Common.CeresSolverOptions? CeresSolverOptions { get; set; }

    public CeresScanMatcherOptions2D(
        double occupiedSpaceWeight,
        double translationWeight,
        double rotationWeight,
        Models.Common.CeresSolverOptions? ceresSolverOptions = null,
        double? highResOccupiedSpaceWeight = null,
        double? highResTranslationWeight = null,
        double? highResRotationWeight = null,
        double? landmarkWeight = null)
    {
        OccupiedSpaceWeight = occupiedSpaceWeight;
        TranslationWeight = translationWeight;
        RotationWeight = rotationWeight;
        CeresSolverOptions = ceresSolverOptions;
        HighResOccupiedSpaceWeight = highResOccupiedSpaceWeight;
        HighResTranslationWeight = highResTranslationWeight;
        HighResRotationWeight = highResRotationWeight;
        LandmarkWeight = landmarkWeight;
    }
}