/*
 * 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;

namespace CartographerSharp.Models.Mapping;

/// <summary>
/// Protocol buffer representation of constraint builder options.
/// </summary>
public struct ConstraintBuilderOptions
{
    /// <summary>
    /// A constraint will be added if the proportion of added constraints to
    /// potential constraints drops below this number.
    /// </summary>
    [JsonPropertyName("sampling_ratio")]
    public double SamplingRatio { get; set; }

    /// <summary>
    /// Threshold for poses to be considered near a submap.
    /// </summary>
    [JsonPropertyName("max_constraint_distance")]
    public double MaxConstraintDistance { get; set; }

    /// <summary>
    /// Threshold for the scan match score below which a match is not considered.
    /// Low scores indicate that the scan and map do not look similar.
    /// </summary>
    [JsonPropertyName("min_score")]
    public double MinScore { get; set; }

    /// <summary>
    /// Threshold below which global localizations are not trusted.
    /// </summary>
    [JsonPropertyName("global_localization_min_score")]
    public double GlobalLocalizationMinScore { get; set; }

    /// <summary>
    /// Weight used in the optimization problem for the translational component of
    /// loop closure constraints.
    /// </summary>
    [JsonPropertyName("loop_closure_translation_weight")]
    public double LoopClosureTranslationWeight { get; set; }

    /// <summary>
    /// Weight used in the optimization problem for the rotational component of
    /// loop closure constraints.
    /// </summary>
    [JsonPropertyName("loop_closure_rotation_weight")]
    public double LoopClosureRotationWeight { get; set; }

    /// <summary>
    /// If enabled, logs information of loop-closing constraints for debugging.
    /// </summary>
    [JsonPropertyName("log_matches")]
    public bool LogMatches { get; set; }

    /// <summary>
    /// Options for the fast correlative scan matcher (2D).
    /// </summary>
    [JsonPropertyName("fast_correlative_scan_matcher_options")]
    public FastCorrelativeScanMatcherOptions2D? FastCorrelativeScanMatcherOptions { get; set; }

    /// <summary>
    /// Options for the Ceres scan matcher (2D).
    /// </summary>
    [JsonPropertyName("ceres_scan_matcher_options")]
    public CeresScanMatcherOptions2D? CeresScanMatcherOptions { get; set; }

    /// <summary>
    /// Options for the fast correlative scan matcher (3D).
    /// </summary>
    [JsonPropertyName("fast_correlative_scan_matcher_options_3d")]
    public FastCorrelativeScanMatcherOptions3D? FastCorrelativeScanMatcherOptions3D { get; set; }

    /// <summary>
    /// Options for the Ceres scan matcher (3D).
    /// </summary>
    [JsonPropertyName("ceres_scan_matcher_options_3d")]
    public CeresScanMatcherOptions3D? CeresScanMatcherOptions3D { get; set; }

    public ConstraintBuilderOptions()
    {
        SamplingRatio = 0.3;
        MaxConstraintDistance = 15.0;
        MinScore = 0.55;
        GlobalLocalizationMinScore = 0.6;
        LoopClosureTranslationWeight = 1.1e4;
        LoopClosureRotationWeight = 1.0;
        LogMatches = true;
    }
}