/*
 * Copyright 2018 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 grid options for 2D.
/// </summary>
public struct GridOptions2D
{
    public enum GridType
    {
        InvalidGrid = 0,
        ProbabilityGrid = 1,
        Tsdf = 2
    }

    [JsonPropertyName("grid_type")]
    public GridType GridTypeValue { get; set; }

    [JsonPropertyName("resolution")]
    public double Resolution { get; set; }

    [JsonPropertyName("tsdf_options")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public TSDFOptions2D? TsdfOptions { get; set; }

    public GridOptions2D(GridType gridType, double resolution, TSDFOptions2D? tsdfOptions = null)
    {
        GridTypeValue = gridType;
        Resolution = resolution;
        TsdfOptions = tsdfOptions;
    }

    /// <summary>
    /// Options for TSDF2D grid.
    /// </summary>
    public struct TSDFOptions2D
    {
        [JsonPropertyName("truncation_distance")]
        public double TruncationDistance { get; set; }

        [JsonPropertyName("max_weight")]
        public double MaxWeight { get; set; }

        public TSDFOptions2D(double truncationDistance, double maxWeight)
        {
            TruncationDistance = truncationDistance;
            MaxWeight = maxWeight;
        }
    }
}