// This file is part of Sophus.
//
// Copyright 2012-2013 Hauke Strasdat
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights  to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.

#include <iostream>
#include <vector>

#include <unsupported/Eigen/MatrixFunctions>
#include "se2.hpp"
#include "tests.hpp"

using namespace Sophus;
using namespace std;

template<class Scalar>
void tests() {

  typedef SO2Group<Scalar> SO2Type;
  typedef SE2Group<Scalar> SE2Type;
  typedef typename SE2Group<Scalar>::Point Point;
  typedef typename SE2Group<Scalar>::Tangent Tangent;

  vector<SE2Type> se2_vec;
  se2_vec.push_back(SE2Type(SO2Type(0.0),Point(0,0)));
  se2_vec.push_back(SE2Type(SO2Type(0.2),Point(10,0)));
  se2_vec.push_back(SE2Type(SO2Type(0.),Point(0,100)));
  se2_vec.push_back(SE2Type(SO2Type(-1.),Point(20,-1)));
  se2_vec.push_back(SE2Type(SO2Type(0.00001),
                            Point(-0.00000001,0.0000000001)));
  se2_vec.push_back(SE2Type(SO2Type(0.2),Point(0,0))
                    *SE2Type(SO2Type(M_PI),Point(0,0))
                    *SE2Type(SO2Type(-0.2),Point(0,0)));
  se2_vec.push_back(SE2Type(SO2Type(0.3),Point(2,0))
                    *SE2Type(SO2Type(M_PI),Point(0,0))
                    *SE2Type(SO2Type(-0.3),Point(0,6)));

  vector<Tangent> tangent_vec;
  Tangent tmp;
  tmp << 0,0,0;
  tangent_vec.push_back(tmp);
  tmp << 1,0,0;
  tangent_vec.push_back(tmp);
  tmp << 0,1,1;
  tangent_vec.push_back(tmp);
  tmp << -1,1,0;
  tangent_vec.push_back(tmp);
  tmp << 20,-1,-1;
  tangent_vec.push_back(tmp);
  tmp << 30,5,20;
  tangent_vec.push_back(tmp);

  vector<Point> point_vec;
  point_vec.push_back(Point(1,2));

  Tests<SE2Type> tests;
  tests.setGroupElements(se2_vec);
  tests.setTangentVectors(tangent_vec);
  tests.setPoints(point_vec);

  tests.runAllTests();
}

int main() {
  cerr << "Test SE2" << endl << endl;

  cerr << "Double tests: " << endl;
  tests<double>();

  cerr << "Float tests: " << endl;
  tests<float>();
  return 0;
}