// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include "parameter_se3_offset.h"

#include "isometry3d_gradients.h"
#include "vertex_se3.h"

#ifdef G2O_HAVE_OPENGL
#include "g2o/stuff/opengl_primitives.h"
#include "g2o/stuff/opengl_wrapper.h"
#endif

namespace g2o {

ParameterSE3Offset::ParameterSE3Offset() { setOffset(); }

void ParameterSE3Offset::setOffset(const Isometry3& offset_) {
  _offset = offset_;
  _inverseOffset = _offset.inverse();
}

bool ParameterSE3Offset::read(std::istream& is) {
  Vector7 off;
  bool state = internal::readVector(is, off);
  // normalize the quaternion to recover numerical precision lost by storing as
  // human readable text
  Vector4::MapType(off.data() + 3).normalize();
  setOffset(internal::fromVectorQT(off));
  return state;
}

bool ParameterSE3Offset::write(std::ostream& os) const {
  return internal::writeVector(os, internal::toVectorQT(_offset));
}

CacheSE3Offset::CacheSE3Offset() : Cache(), _offsetParam(0) {}

bool CacheSE3Offset::resolveDependencies() {
  _offsetParam = dynamic_cast<ParameterSE3Offset*>(_parameters[0]);
  return _offsetParam != 0;
}

void CacheSE3Offset::updateImpl() {
  const VertexSE3* v = static_cast<const VertexSE3*>(vertex());
  _n2w = v->estimate() * _offsetParam->offset();
  _w2n = _n2w.inverse();
  _w2l = v->estimate().inverse();
}

void CacheSE3Offset::setOffsetParam(ParameterSE3Offset* offsetParam) {
  _offsetParam = offsetParam;
}

#ifdef G2O_HAVE_OPENGL
CacheSE3OffsetDrawAction::CacheSE3OffsetDrawAction()
    : DrawAction(typeid(CacheSE3Offset).name()) {
  _previousParams = (DrawAction::Parameters*)0x42;
  refreshPropertyPtrs(0);
}

bool CacheSE3OffsetDrawAction::refreshPropertyPtrs(
    HyperGraphElementAction::Parameters* params_) {
  if (!DrawAction::refreshPropertyPtrs(params_)) return false;
  if (_previousParams) {
    _cubeSide = _previousParams->makeProperty<FloatProperty>(
        _typeName + "::CUBE_SIDE", .05f);
  } else {
    _cubeSide = 0;
  }
  return true;
}

HyperGraphElementAction* CacheSE3OffsetDrawAction::operator()(
    HyperGraph::HyperGraphElement* element,
    HyperGraphElementAction::Parameters* params_) {
  if (typeid(*element).name() != _typeName) return nullptr;
  CacheSE3Offset* that = static_cast<CacheSE3Offset*>(element);
  refreshPropertyPtrs(params_);
  if (!_previousParams) return this;

  if (_show && !_show->value()) return this;
  float cs = _cubeSide ? _cubeSide->value() : 1.0f;
  glPushAttrib(GL_COLOR);
  glColor3f(POSE_PARAMETER_COLOR);
  glPushMatrix();
  glMultMatrixd(that->offsetParam()->offset().cast<double>().data());
  opengl::drawBox(cs, cs, cs);
  glPopMatrix();
  glPopAttrib();
  return this;
}
#endif

}  // namespace g2o
