/*
 * 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 submaps options for 2D.
/// </summary>
public struct SubmapsOptions2D
{
    /// <summary>
    /// Number of range data before adding a new submap. Each submap will get twice
    /// the number of range data inserted: First for initialization without being
    /// matched against, then while being matched.
    /// </summary>
    [JsonPropertyName("num_range_data")]
    public int NumRangeData { get; set; }

    [JsonPropertyName("grid_options_2d")]
    public GridOptions2D GridOptions2D { get; set; }

    [JsonPropertyName("range_data_inserter_options")]
    public RangeDataInserterOptions RangeDataInserterOptions { get; set; }

    /// <summary>
    /// Optional high resolution grid options for fine-grained Ceres scan matching.
    /// When set, a second grid at higher resolution is maintained per submap and
    /// passed to CeresScanMatcher2D for more precise wall alignment.
    /// </summary>
    [JsonPropertyName("high_res_grid_options_2d")]
    public GridOptions2D? HighResGridOptions2D { get; set; }

    public SubmapsOptions2D(
        int numRangeData,
        GridOptions2D gridOptions2D,
        RangeDataInserterOptions rangeDataInserterOptions,
        GridOptions2D? highResGridOptions2D = null)
    {
        NumRangeData = numRangeData;
        GridOptions2D = gridOptions2D;
        RangeDataInserterOptions = rangeDataInserterOptions;
        HighResGridOptions2D = highResGridOptions2D;
    }
}