/*
 * 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.
 */

namespace CartographerSharp.Mapping.Internal;

/// <summary>
/// Result of processing a work item, indicating what should happen next.
/// Similar to Cartographer C++ WorkItem::Result.
/// </summary>
public enum WorkItemResult
{
    /// <summary>
    /// Do not run optimization after this work item.
    /// </summary>
    DoNotRunOptimization,
    
    /// <summary>
    /// Run optimization after this work item.
    /// </summary>
    RunOptimization
}

/// <summary>
/// Represents a work item to be processed by the pose graph.
/// Similar to Cartographer C++ WorkItem.
/// </summary>
public record WorkItem(Func<WorkItemResult> Action);