// 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
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//
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#include "g2o/core/jacobian_workspace.h"
#include "g2o/core/optimizable_graph.h"
#include "g2o/types/sim3/types_seven_dof_expmap.h"
#include "gtest/gtest.h"
#include "unit_test/test_helper/evaluate_jacobian.h"
#include "unit_test/test_helper/random_state.h"

using namespace std;
using namespace g2o;
using namespace g2o::internal;

namespace {
static Sim3 randomSim3() {
  Isometry3 se3 = internal::randomIsometry3();
  Matrix3 r = se3.rotation();
  Vector3 t = se3.translation();
  return Sim3(r, t, 1.0);
}
}  // namespace

TEST(Sim3, EdgeSim3Jacobian) {
  VertexSim3Expmap v1;
  v1.setId(0);

  VertexSim3Expmap v2;
  v2.setId(1);

  EdgeSim3 e;
  e.setVertex(0, &v1);
  e.setVertex(1, &v2);
  e.setInformation(EdgeSim3::InformationType::Identity());

  JacobianWorkspace jacobianWorkspace;
  JacobianWorkspace numericJacobianWorkspace;
  numericJacobianWorkspace.updateSize(&e);
  numericJacobianWorkspace.allocate();

  for (int k = 0; k < 1; ++k) {
    v1.setEstimate(randomSim3());
    v2.setEstimate(randomSim3());
    e.setMeasurement(randomSim3());

    evaluateJacobian(e, jacobianWorkspace, numericJacobianWorkspace);
  }
}
