/*
 * 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;
using CartographerSharp.Models.Transform;

namespace CartographerSharp.Models.Mapping;

/// <summary>
/// Protocol buffer representation of trajectory data.
/// </summary>
public struct TrajectoryData
{
    [JsonPropertyName("trajectory_id")]
    public int TrajectoryId { get; set; }

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

    [JsonPropertyName("imu_calibration")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public Quaterniond? ImuCalibration { get; set; }

    [JsonPropertyName("fixed_frame_origin_in_map")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public Rigid3dProto? FixedFrameOriginInMap { get; set; }

    public TrajectoryData(
        int trajectoryId,
        double gravityConstant = 9.8,
        Quaterniond? imuCalibration = null,
        Rigid3dProto? fixedFrameOriginInMap = null)
    {
        TrajectoryId = trajectoryId;
        GravityConstant = gravityConstant;
        ImuCalibration = imuCalibration;
        FixedFrameOriginInMap = fixedFrameOriginInMap;
    }
}