// 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
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// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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#include "edge_se2_offset.h"

#include <cassert>
#include <iostream>

#include "parameter_se2_offset.h"

namespace g2o {
using namespace std;

EdgeSE2Offset::EdgeSE2Offset()
    : BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2>() {
  information().setIdentity();
  _offsetFrom = 0;
  _offsetTo = 0;
  _cacheFrom = 0;
  _cacheTo = 0;
  resizeParameters(2);
  installParameter(_offsetFrom, 0);
  installParameter(_offsetTo, 1);
}

bool EdgeSE2Offset::resolveCaches() {
  assert(_offsetFrom && _offsetTo);

  ParameterVector pv(1);
  pv[0] = _offsetFrom;
  resolveCache(_cacheFrom, (OptimizableGraph::Vertex*)_vertices[0],
               "CACHE_SE2_OFFSET", pv);
  pv[0] = _offsetTo;
  resolveCache(_cacheTo, (OptimizableGraph::Vertex*)_vertices[1],
               "CACHE_SE2_OFFSET", pv);
  return (_cacheFrom && _cacheTo);
}

bool EdgeSE2Offset::read(std::istream& is) {
  int pidFrom, pidTo;
  is >> pidFrom >> pidTo;
  if (!setParameterId(0, pidFrom)) return false;
  if (!setParameterId(1, pidTo)) return false;

  Vector3 meas;
  internal::readVector(is, meas);
  setMeasurement(SE2(meas));
  if (is.bad()) return false;
  readInformationMatrix(is);
  if (is.bad()) {
    //  we overwrite the information matrix with the Identity
    information().setIdentity();
  }
  return true;
}

bool EdgeSE2Offset::write(std::ostream& os) const {
  os << _offsetFrom->id() << " " << _offsetTo->id() << " ";
  internal::writeVector(os, measurement().toVector());
  return writeInformationMatrix(os);
}

void EdgeSE2Offset::computeError() {
  SE2 delta = _inverseMeasurement * _cacheFrom->w2n() * _cacheTo->n2w();
  _error.head<2>() = delta.translation();
  _error(2) = delta.rotation().angle();
}

bool EdgeSE2Offset::setMeasurementFromState() {
  SE2 delta = _cacheFrom->w2n() * _cacheTo->n2w();
  setMeasurement(delta);
  return true;
}

void EdgeSE2Offset::initialEstimate(const OptimizableGraph::VertexSet& from_,
                                    OptimizableGraph::Vertex* /*to_*/) {
  VertexSE2* from = static_cast<VertexSE2*>(_vertices[0]);
  VertexSE2* to = static_cast<VertexSE2*>(_vertices[1]);

  SE2 virtualMeasurement = _cacheFrom->offsetParam()->offset() * measurement() *
                           _cacheTo->offsetParam()->offset().inverse();

  if (from_.count(from) > 0)
    to->setEstimate(from->estimate() * virtualMeasurement);
  else
    from->setEstimate(to->estimate() * virtualMeasurement.inverse());
}

}  // namespace g2o
