/*
 * 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;
using CeresSolverOptions = CartographerSharp.Models.Common.CeresSolverOptions;

namespace CartographerSharp.Models.Mapping;

/// <summary>
/// Protocol buffer representation of IMU-based pose extrapolator options.
/// </summary>
public struct ImuBasedPoseExtrapolatorOptions
{
    [JsonPropertyName("pose_queue_duration")]
    public double PoseQueueDuration { get; set; }

    [JsonPropertyName("gravity_constant")]
    public double GravityConstant { get; set; }

    [JsonPropertyName("pose_translation_weight")]
    public double PoseTranslationWeight { get; set; }

    [JsonPropertyName("pose_rotation_weight")]
    public double PoseRotationWeight { get; set; }

    [JsonPropertyName("imu_acceleration_weight")]
    public double ImuAccelerationWeight { get; set; }

    [JsonPropertyName("imu_rotation_weight")]
    public double ImuRotationWeight { get; set; }

    [JsonPropertyName("solver_options")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public CeresSolverOptions? SolverOptions { get; set; }

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

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

    public ImuBasedPoseExtrapolatorOptions(
        double poseQueueDuration = 0.001,
        double gravityConstant = 9.806,
        double poseTranslationWeight = 1.0,
        double poseRotationWeight = 1.0,
        double imuAccelerationWeight = 1.0,
        double imuRotationWeight = 1.0,
        CeresSolverOptions? solverOptions = null,
        double odometryTranslationWeight = 1.0,
        double odometryRotationWeight = 1.0)
    {
        PoseQueueDuration = poseQueueDuration;
        GravityConstant = gravityConstant;
        PoseTranslationWeight = poseTranslationWeight;
        PoseRotationWeight = poseRotationWeight;
        ImuAccelerationWeight = imuAccelerationWeight;
        ImuRotationWeight = imuRotationWeight;
        SolverOptions = solverOptions;
        OdometryTranslationWeight = odometryTranslationWeight;
        OdometryRotationWeight = odometryRotationWeight;
    }
}