// 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
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#include "edge_se2_line2d.h"

#include <cassert>

namespace g2o {

EdgeSE2Line2D::EdgeSE2Line2D()
    : BaseBinaryEdge<2, Line2D, VertexSE2, VertexLine2D>() {}

bool EdgeSE2Line2D::read(std::istream& is) {
  internal::readVector(is, _measurement);
  return readInformationMatrix(is);
}

bool EdgeSE2Line2D::write(std::ostream& os) const {
  internal::writeVector(os, measurement());
  return writeInformationMatrix(os);
}

void EdgeSE2Line2D::initialEstimate(const OptimizableGraph::VertexSet& from,
                                    OptimizableGraph::Vertex* to) {
  assert(from.size() == 1 && from.count(_vertices[0]) == 1 &&
         "Can not initialize VertexSE2 position by VertexLine2D");

  VertexSE2* vi = static_cast<VertexSE2*>(_vertices[0]);
  VertexLine2D* vj = static_cast<VertexLine2D*>(_vertices[1]);
  if (from.count(vi) > 0 && to == vj) {
    SE2 T = vi->estimate();
    Vector2 est = _measurement;
    est[0] += T.rotation().angle();
    est[0] = normalize_theta(est[0]);
    Vector2 n(std::cos(est[0]), std::sin(est[0]));
    est[1] += n.dot(T.translation());
    vj->setEstimate(est);
  }
}

}  // namespace g2o
