/*
 * 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 CartographerSharp.Models.Transform;
using System.Text.Json.Serialization;

namespace CartographerSharp.Models.GroundTruth;

/// <summary>
/// Relation between two timestamps with expected relative transform.
/// </summary>
public struct Relation
{
    [JsonPropertyName("timestamp1")]
    public long Timestamp1 { get; set; }

    [JsonPropertyName("timestamp2")]
    public long Timestamp2 { get; set; }

    /// <summary>
    /// The 'expected' relative transform of the tracking frame from 'timestamp2'
    /// to 'timestamp1'.
    /// </summary>
    [JsonPropertyName("expected")]
    public Rigid3dProto Expected { get; set; }

    /// <summary>
    /// Covered distance between the two timestamps.
    /// </summary>
    [JsonPropertyName("covered_distance")]
    public double CoveredDistance { get; set; }
}

/// <summary>
/// Ground truth data containing relations.
/// </summary>
public struct GroundTruth
{
    [JsonPropertyName("relation")]
    public List<Relation> Relations { get; set; }
}