/*
 * 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 TSDF range data inserter options for 2D.
/// </summary>
public struct TSDFRangeDataInserterOptions2D
{
    /// <summary>
    /// Distance to the surface within the signed distance function is evaluated.
    /// </summary>
    [JsonPropertyName("truncation_distance")]
    public double TruncationDistance { get; set; }

    /// <summary>
    /// Maximum weight that can be stored in a cell.
    /// </summary>
    [JsonPropertyName("maximum_weight")]
    public double MaximumWeight { get; set; }

    /// <summary>
    /// Enables updating cells between the sensor origin and the range observation as free space.
    /// </summary>
    [JsonPropertyName("update_free_space")]
    public bool UpdateFreeSpace { get; set; }

    [JsonPropertyName("normal_estimation_options")]
    public NormalEstimationOptions2D NormalEstimationOptions { get; set; }

    /// <summary>
    /// Project the distance between the updated cell and the range observation to the estimated scan normal.
    /// </summary>
    [JsonPropertyName("project_sdf_distance_to_scan_normal")]
    public bool ProjectSdfDistanceToScanNormal { get; set; }

    /// <summary>
    /// Update weight is scaled with 1/distance(origin,hit)^range_exponent.
    /// </summary>
    [JsonPropertyName("update_weight_range_exponent")]
    public int UpdateWeightRangeExponent { get; set; }

    /// <summary>
    /// Kernel bandwidth of the weight factor based on the angle between scan normal and ray.
    /// </summary>
    [JsonPropertyName("update_weight_angle_scan_normal_to_ray_kernel_bandwidth")]
    public double UpdateWeightAngleScanNormalToRayKernelBandwidth { get; set; }

    /// <summary>
    /// Kernel bandwidth of the weight factor based on the distance between cell and scan observation.
    /// </summary>
    [JsonPropertyName("update_weight_distance_cell_to_hit_kernel_bandwidth")]
    public double UpdateWeightDistanceCellToHitKernelBandwidth { get; set; }

    public TSDFRangeDataInserterOptions2D(
        double truncationDistance,
        double maximumWeight,
        bool updateFreeSpace = false,
        NormalEstimationOptions2D normalEstimationOptions = default,
        bool projectSdfDistanceToScanNormal = false,
        int updateWeightRangeExponent = 0,
        double updateWeightAngleScanNormalToRayKernelBandwidth = 0.0,
        double updateWeightDistanceCellToHitKernelBandwidth = 0.0)
    {
        TruncationDistance = truncationDistance;
        MaximumWeight = maximumWeight;
        UpdateFreeSpace = updateFreeSpace;
        NormalEstimationOptions = normalEstimationOptions;
        ProjectSdfDistanceToScanNormal = projectSdfDistanceToScanNormal;
        UpdateWeightRangeExponent = updateWeightRangeExponent;
        UpdateWeightAngleScanNormalToRayKernelBandwidth = updateWeightAngleScanNormalToRayKernelBandwidth;
        UpdateWeightDistanceCellToHitKernelBandwidth = updateWeightDistanceCellToHitKernelBandwidth;
    }
}