// 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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#ifndef G2O_EDGE_SE2_SENSOR_CALIB_H
#define G2O_EDGE_SE2_SENSOR_CALIB_H

#include "g2o/core/base_fixed_sized_edge.h"
#include "g2o/types/slam2d/vertex_se2.h"
#include "g2o_types_sclam2d_api.h"

namespace g2o {

/**
 * \brief scanmatch measurement that also calibrates an offset for the laser
 */
class G2O_TYPES_SCLAM2D_API EdgeSE2SensorCalib
    : public BaseFixedSizedEdge<3, SE2, VertexSE2, VertexSE2, VertexSE2> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  EdgeSE2SensorCalib();

  void computeError() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexSE2* v2 = static_cast<const VertexSE2*>(_vertices[1]);
    const VertexSE2* laserOffset = static_cast<const VertexSE2*>(_vertices[2]);
    const SE2& x1 = v1->estimate();
    const SE2& x2 = v2->estimate();
    SE2 delta =
        _inverseMeasurement * ((x1 * laserOffset->estimate()).inverse() * x2 *
                               laserOffset->estimate());
    _error = delta.toVector();
  }

  void setMeasurement(const SE2& m) {
    _measurement = m;
    _inverseMeasurement = m.inverse();
  }

  virtual double initialEstimatePossible(
      const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to) {
    if (from.count(_vertices[2]) == 1  // need the laser offset
        && ((from.count(_vertices[0]) == 1 && to == _vertices[1]) ||
            ((from.count(_vertices[1]) == 1 && to == _vertices[0])))) {
      return 1.0;
    }
    return -1.0;
  }
  virtual void initialEstimate(const OptimizableGraph::VertexSet& from,
                               OptimizableGraph::Vertex* to);

  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;

 protected:
  SE2 _inverseMeasurement;
};

#ifdef G2O_HAVE_OPENGL
class EdgeSE2SensorCalibDrawAction : public DrawAction {
 public:
  EdgeSE2SensorCalibDrawAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
};
#endif

}  // namespace g2o

#endif
