#ifndef TRAJECTORYCALCULATOR_H
#define TRAJECTORYCALCULATOR_H

#include "GPRDataModel.h"
#include "SurveyGeometry.h"
#include <QVector3D>
#include <QStringList>

struct TrajectoryFilterOptions {
    bool distanceFilterEnabled = true;
    double maxSegmentDistanceM = 1.0;
    bool speedFilterEnabled = false;
    double maxSpeedMps = 60.0;
    double traceIntervalSec = 0.05;
    bool angleFilterEnabled = true;
    double maxTurnAngleDeg = 60.0;
    enum class InterpolationMode { Linear, Spline };
    InterpolationMode interpolationMode = InterpolationMode::Linear;
    bool preserveEndpoints = true;
    bool preserveManualEdits = true;
};

struct TrajectoryFilterResult {
    QVector<QVector3D> outputPositions;
    QVector<bool> keepMask;
    QVector<bool> distanceOutlierMask;
    QVector<bool> speedOutlierMask;
    QVector<bool> angleOutlierMask;
    QStringList warnings;
};

class TrajectoryCalculator {
public:
    // 计算第 traceIdx 个 RTK 点的行进方向角（弧度）
    // 返回 theta_y = atan2(dY, dX)，其中 X=北向, Y=东向
    static double headingAt(int traceIdx, const QVector<QVector3D> &gpsPositions);

    // 根据 RTK 轨迹和天线几何参数，计算所有通道的绝对坐标
    // 结果写入 line.channelTrajectories 和 line.data.traces[].position
    static bool computeTrajectories(SurveyLine &line, const SurveyGeometry &geom);

    static QVector<QVector3D> resampleTrajectoryLinear(const QVector<QVector3D> &input, int targetCount);
    static QVector<QVector3D> resampleTrajectorySpline(const QVector<QVector3D> &input, int targetCount);
    static TrajectoryFilterResult filterAndInterpolateTrajectory(const QVector<QVector3D> &input,
                                                                 const TrajectoryFilterOptions &options,
                                                                 int targetCount);
};

#endif // TRAJECTORYCALCULATOR_H