/*
 * 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.
 */

#include "cartographer/mapping/pose_graph_trimmer.h"

#include "glog/logging.h"

namespace cartographer {
namespace mapping {

PureLocalizationTrimmer::PureLocalizationTrimmer(const int trajectory_id,
                                                 const int num_submaps_to_keep)
    : trajectory_id_(trajectory_id), num_submaps_to_keep_(num_submaps_to_keep) {
  CHECK_GE(num_submaps_to_keep, 3);
}

void PureLocalizationTrimmer::Trim(Trimmable* const pose_graph) {
  if (pose_graph->IsFinished(trajectory_id_)) {
    num_submaps_to_keep_ = 0;
  }

  auto submap_ids = pose_graph->GetSubmapIds(trajectory_id_);
  for (std::size_t i = 0; i + num_submaps_to_keep_ < submap_ids.size(); ++i) {
    pose_graph->MarkSubmapAsTrimmed(submap_ids.at(i));
  }

  if (num_submaps_to_keep_ == 0) {
    finished_ = true;
  }
}

bool PureLocalizationTrimmer::IsFinished() { return finished_; }

}  // namespace mapping
}  // namespace cartographer