/*
 * Copyright 2017 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 CartographerSharp.Transform;

namespace CartographerSharp.Sensor;

/// <summary>
/// Odometry data structure.
/// </summary>
public struct OdometryData(long time, Rigid3d pose)
{
    public long Time { get; set; } = time;
    public Rigid3d Pose { get; set; } = pose;
}

/// <summary>
/// Operations on OdometryData.
/// </summary>
public static class OdometryDataOperations
{
    /// <summary>
    /// Converts 'odometry_data' to a proto::OdometryData.
    /// </summary>
    public static Models.Sensor.OdometryData ToProto(OdometryData odometryData)
    {
        return new Models.Sensor.OdometryData(
            odometryData.Time,
            (Rigid3dProto)odometryData.Pose
        );
    }

    /// <summary>
    /// Converts 'proto' to an OdometryData.
    /// </summary>
    public static OdometryData FromProto(Models.Sensor.OdometryData proto)
    {
        return new OdometryData(
            proto.Timestamp,
            (Rigid3d)proto.Pose
        );
    }
}