// import { YUpLStrategy } from "./strategy-manager/y-up-l-strategy.js";
import { YUpRStrategy } from "./strategy-manager/y-up-r-strategy.js";

const strategies = {
  // "y-up-l": YUpLStrategy,
  "y-up-r": YUpRStrategy,
};

export class UWB {
  constructor({ upAxis, LR, worldPose }) {
    this.setStrategy(upAxis + '-'+LR, worldPose);
  }

  setStrategy(strategyKey, worldPose) {
    if (!strategies[strategyKey]) {
      throw new Error(`${strategyKey} 策略不存在`);
    }
    this.currentStrategy = new strategies[strategyKey]();
    this.setLocalOriginPose(worldPose);
  }

  unifiedCoordinateSystem(model) {
    if (this.currentStrategy) {
      return this.currentStrategy.unifiedCoordinateSystem(model);
    }
  }

  setLocalOriginPose(worldPose) {
    if (this.currentStrategy) {
      this.currentStrategy.setLocalOriginPose(worldPose);
    }
  }

  convertLocalToWorld(localPosition) {
    if (this.currentStrategy) {
      return this.currentStrategy.convertLocalToWorld( localPosition);
    }
  }
}