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

namespace CartographerSharp.Models.Mapping;

/// <summary>
/// Protocol buffer representation of TSDF2D grid.
/// </summary>
public struct TSDF2D
{
    [JsonPropertyName("truncation_distance")]
    public double TruncationDistance { get; set; }

    [JsonPropertyName("max_weight")]
    public double MaxWeight { get; set; }

    [JsonPropertyName("weight_cells")]
    public List<int> WeightCells { get; set; }

    public TSDF2D(double truncationDistance, double maxWeight, List<int>? weightCells = null)
    {
        TruncationDistance = truncationDistance;
        MaxWeight = maxWeight;
        WeightCells = weightCells ?? new List<int>();
    }
}