// 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_se2_offset.h"

#include "g2o/core/io_helper.h"
#include "vertex_se2.h"

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

namespace g2o {

ParameterSE2Offset::ParameterSE2Offset() { setOffset(); }

void ParameterSE2Offset::setOffset(const SE2& offset_) {
  _offset = offset_;
  _offsetMatrix = _offset.rotation().toRotationMatrix();
  _offsetMatrix.translation() = _offset.translation();
  _inverseOffsetMatrix = _offsetMatrix.inverse();
}

bool ParameterSE2Offset::read(std::istream& is) {
  Vector3 off;
  bool state = g2o::internal::readVector(is, off);
  setOffset(SE2(off));
  return state;
}

bool ParameterSE2Offset::write(std::ostream& os) const {
  return internal::writeVector(os, offset().toVector());
}

CacheSE2Offset::CacheSE2Offset() : Cache(), _offsetParam(0) {}

bool CacheSE2Offset::resolveDependencies() {
  _offsetParam = dynamic_cast<ParameterSE2Offset*>(_parameters[0]);
  return _offsetParam != 0;
}

void CacheSE2Offset::updateImpl() {
  const VertexSE2* v = static_cast<const VertexSE2*>(vertex());
  _se2_n2w = v->estimate() * _offsetParam->offset();

  _n2w = _se2_n2w.rotation().toRotationMatrix();
  _n2w.translation() = _se2_n2w.translation();

  _se2_w2n = _se2_n2w.inverse();
  _w2n = _se2_w2n.rotation().toRotationMatrix();
  _w2n.translation() = _se2_w2n.translation();

  SE2 w2l = v->estimate().inverse();
  _w2l = w2l.rotation().toRotationMatrix();
  _w2l.translation() = w2l.translation();

  double alpha = v->estimate().rotation().angle();
  double c = std::cos(alpha), s = std::sin(alpha);
  Matrix2 RInversePrime;
  RInversePrime << -s, c, -c, -s;
  _RpInverse_RInversePrime =
      _offsetParam->offset().rotation().toRotationMatrix().transpose() *
      RInversePrime;
  _RpInverse_RInverse = w2l.rotation();
}

void CacheSE2Offset::setOffsetParam(ParameterSE2Offset* offsetParam) {
  _offsetParam = offsetParam;
}

}  // namespace g2o
