namespace RobotNet10.Shared.Sensor;

/// <summary>
/// LaserScan message (sensor_msgs/LaserScan)
/// Single scan from a planar laser range-finder
/// </summary>
public struct LaserScan
{
    /// <summary>
    /// Header with timestamp and frame ID
    /// </summary>
    public Header Header { get; set; }

    /// <summary>
    /// Start angle of the scan (rad)
    /// </summary>
    public double AngleMin { get; set; }

    /// <summary>
    /// End angle of the scan (rad)
    /// </summary>
    public double AngleMax { get; set; }

    /// <summary>
    /// Angular distance between measurements (rad)
    /// </summary>
    public double AngleIncrement { get; set; }

    /// <summary>
    /// Time between measurements (seconds) - if your scanner
    /// is moving, this will be used in interpolating position
    /// of 3d points
    /// </summary>
    public double TimeIncrement { get; set; }

    /// <summary>
    /// Time between scans (seconds)
    /// </summary>
    public double ScanTime { get; set; }

    /// <summary>
    /// Minimum range value (m)
    /// </summary>
    public double RangeMin { get; set; }

    /// <summary>
    /// Maximum range value (m)
    /// </summary>
    public double RangeMax { get; set; }

    /// <summary>
    /// Range data (m)
    /// (Note: values < range_min or > range_max should be discarded)
    /// </summary>
    public double[] Ranges { get; set; }

    /// <summary>
    /// Intensity data (device-specific units)
    /// If your device does not provide intensities, please leave the array empty
    /// </summary>
    public double[] Intensities { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public LaserScan()
    {
        Header = new Header();
        AngleMin = 0.0;
        AngleMax = 0.0;
        AngleIncrement = 0.0;
        TimeIncrement = 0.0;
        ScanTime = 0.0;
        RangeMin = 0.0;
        RangeMax = 0.0;
        Ranges = [];
        Intensities = [];
    }
}