namespace RobotNet10.RobotApp.SLAM.Cartographer;

/// <summary>
/// Root configuration for Cartographer integration
/// </summary>
public class CartographerConfiguration
{
    /// <summary>
    /// Enable or disable Cartographer service
    /// </summary>
    public bool Enable { get; set; } = true;

    /// <summary>
    /// Use odometry data if available
    /// </summary>
    public bool UseOdometry { get; set; } = true;

    /// <summary>
    /// Sensor configuration
    /// </summary>
    public SensorConfiguration Sensors { get; set; } = new();

    /// <summary>
    /// Trajectory builder configuration
    /// </summary>
    public TrajectoryBuilderConfiguration TrajectoryBuilder { get; set; } = new();

    /// <summary>
    /// Map builder configuration
    /// </summary>
    public MapBuilderConfiguration MapBuilder { get; set; } = new();

    /// <summary>
    /// Map storage configuration
    /// </summary>
    public MapStorageConfiguration MapStorage { get; set; } = new();

    /// <summary>
    /// MCL (Monte Carlo Localization) configuration. When Enabled, SetInitialPoseAsync uses MCL to refine pose before starting Cartographer trajectory (xloc flow).
    /// </summary>
    public MclConfiguration Mcl { get; set; } = new();

    /// <summary>
    /// Occupancy grid generation configuration.
    /// Controls probability thresholds, output mode, wall thinning, and ambiguous cell handling.
    /// </summary>
    public OccupancyGridConfiguration OccupancyGrid { get; set; } = new();
}