/*
 * 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 optimization problem options.
/// </summary>
public struct OptimizationProblemOptions
{
    [JsonPropertyName("huber_scale")]
    public double HuberScale { get; set; }

    [JsonPropertyName("odometry_huber_scale")]
    public double OdometryHuberScale { get; set; }

    [JsonPropertyName("local_slam_pose_huber_scale")]
    public double LocalSlamPoseHuberScale { get; set; }

    [JsonPropertyName("odometry_translation_weight")]
    public double OdometryTranslationWeight { get; set; }

    [JsonPropertyName("odometry_rotation_weight")]
    public double OdometryRotationWeight { get; set; }

    [JsonPropertyName("local_slam_pose_translation_weight")]
    public double LocalSlamPoseTranslationWeight { get; set; }

    [JsonPropertyName("local_slam_pose_rotation_weight")]
    public double LocalSlamPoseRotationWeight { get; set; }

    [JsonPropertyName("fixed_frame_pose_translation_weight")]
    public double FixedFramePoseTranslationWeight { get; set; }

    [JsonPropertyName("fixed_frame_pose_rotation_weight")]
    public double FixedFramePoseRotationWeight { get; set; }

    [JsonPropertyName("fixed_frame_pose_use_tolerant_loss")]
    public bool FixedFramePoseUseTolerantLoss { get; set; }

    [JsonPropertyName("fixed_frame_pose_tolerant_loss_param_a")]
    public double FixedFramePoseTolerantLossParamA { get; set; }

    [JsonPropertyName("fixed_frame_pose_tolerant_loss_param_b")]
    public double FixedFramePoseTolerantLossParamB { get; set; }

    [JsonPropertyName("log_solver_summary")]
    public bool LogSolverSummary { get; set; }

    /// <summary>
    /// Maximum number of iterations for the Ceres solver.
    /// </summary>
    [JsonPropertyName("max_num_iterations")]
    public int MaxNumIterations { get; set; }

    /// <summary>
    /// Scaling parameter for the IMU acceleration term.
    /// </summary>
    [JsonPropertyName("acceleration_weight")]
    public double AccelerationWeight { get; set; }

    /// <summary>
    /// Scaling parameter for the IMU rotation term.
    /// </summary>
    [JsonPropertyName("rotation_weight")]
    public double RotationWeight { get; set; }

    public OptimizationProblemOptions()
    {
        HuberScale = 1.0;
        OdometryHuberScale = 1.0;
        LocalSlamPoseHuberScale = 1.0;
        OdometryTranslationWeight = 1.0;
        OdometryRotationWeight = 1.0;
        LocalSlamPoseTranslationWeight = 1.0;
        LocalSlamPoseRotationWeight = 1.0;
        FixedFramePoseTranslationWeight = 1.0;
        FixedFramePoseRotationWeight = 1.0;
        FixedFramePoseUseTolerantLoss = false;
        FixedFramePoseTolerantLossParamA = 1.0;
        FixedFramePoseTolerantLossParamB = 1.0;
        LogSolverSummary = false;
        MaxNumIterations = 50; // Default for pose graph optimization
        AccelerationWeight = 8.0; // Default from C++ proto
        RotationWeight = 9.0; // Default from C++ proto
    }
}