/*
 * Copyright 2017 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.Collections.Generic;
using System.Text.Json.Serialization;
using CartographerSharp.Models.Sensor;
using CartographerSharp.Models.Transform;

namespace CartographerSharp.Models.Mapping;

/// <summary>
/// Serialized state of a mapping::TrajectoryNode::Data.
/// </summary>
public struct TrajectoryNodeData
{
    [JsonPropertyName("timestamp")]
    public long Timestamp { get; set; }

    [JsonPropertyName("gravity_alignment")]
    public Quaterniond GravityAlignment { get; set; }

    [JsonPropertyName("filtered_gravity_aligned_point_cloud")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public CompressedPointCloud? FilteredGravityAlignedPointCloud { get; set; }

    [JsonPropertyName("high_resolution_point_cloud")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public CompressedPointCloud? HighResolutionPointCloud { get; set; }

    [JsonPropertyName("low_resolution_point_cloud")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public CompressedPointCloud? LowResolutionPointCloud { get; set; }

    [JsonPropertyName("rotational_scan_matcher_histogram")]
    public List<double>? RotationalScanMatcherHistogram { get; set; }

    [JsonPropertyName("local_pose")]
    public Rigid3dProto LocalPose { get; set; }

    public TrajectoryNodeData(
        long timestamp,
        Quaterniond gravityAlignment,
        Rigid3dProto localPose,
        CompressedPointCloud? filteredGravityAlignedPointCloud = null,
        CompressedPointCloud? highResolutionPointCloud = null,
        CompressedPointCloud? lowResolutionPointCloud = null,
        List<double>? rotationalScanMatcherHistogram = null)
    {
        Timestamp = timestamp;
        GravityAlignment = gravityAlignment;
        LocalPose = localPose;
        FilteredGravityAlignedPointCloud = filteredGravityAlignedPointCloud;
        HighResolutionPointCloud = highResolutionPointCloud;
        LowResolutionPointCloud = lowResolutionPointCloud;
        RotationalScanMatcherHistogram = rotationalScanMatcherHistogram;
    }
}