/*
 * 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.Collections.Generic;
using System.Text.Json.Serialization;

namespace CartographerSharp.Models.Mapping;

/// <summary>
/// Protocol buffer representation of a hybrid grid.
/// </summary>
public struct HybridGrid
{
    /// <summary>
    /// Resolution of the grid.
    /// </summary>
    [JsonPropertyName("resolution")]
    public double Resolution { get; set; }

    /// <summary>
    /// X indices. '{x, y, z}_indices[i]' is the index of 'values[i]'.
    /// </summary>
    [JsonPropertyName("x_indices")]
    public List<int> XIndices { get; set; }

    /// <summary>
    /// Y indices.
    /// </summary>
    [JsonPropertyName("y_indices")]
    public List<int> YIndices { get; set; }

    /// <summary>
    /// Z indices.
    /// </summary>
    [JsonPropertyName("z_indices")]
    public List<int> ZIndices { get; set; }

    /// <summary>
    /// The entries in 'values' should be uint16s, not int32s, but protos don't
    /// have a uint16 type.
    /// </summary>
    [JsonPropertyName("values")]
    public List<int> Values { get; set; }

    public HybridGrid(
        double resolution,
        List<int>? xIndices = null,
        List<int>? yIndices = null,
        List<int>? zIndices = null,
        List<int>? values = null)
    {
        Resolution = resolution;
        XIndices = xIndices ?? new List<int>();
        YIndices = yIndices ?? new List<int>();
        ZIndices = zIndices ?? new List<int>();
        Values = values ?? new List<int>();
    }
}