/*
 * 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 probability grid range data inserter options for 2D.
/// </summary>
public struct ProbabilityGridRangeDataInserterOptions2D
{
    /// <summary>
    /// Probability change for a hit (this will be converted to odds and therefore
    /// must be greater than 0.5).
    /// </summary>
    [JsonPropertyName("hit_probability")]
    public double HitProbability { get; set; }

    /// <summary>
    /// Probability change for a miss (this will be converted to odds and therefore
    /// must be less than 0.5).
    /// </summary>
    [JsonPropertyName("miss_probability")]
    public double MissProbability { get; set; }

    /// <summary>
    /// If 'false', free space will not change the probabilities in the occupancy
    /// grid.
    /// </summary>
    [JsonPropertyName("insert_free_space")]
    public bool InsertFreeSpace { get; set; }

    public ProbabilityGridRangeDataInserterOptions2D(
        double hitProbability,
        double missProbability,
        bool insertFreeSpace = true)
    {
        HitProbability = hitProbability;
        MissProbability = missProbability;
        InsertFreeSpace = insertFreeSpace;
    }
}