// 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.

#ifndef G2O_VERTEX_LINE2D_H
#define G2O_VERTEX_LINE2D_H

#include "g2o/config.h"
#include "g2o/core/base_vertex.h"
#include "g2o/core/hyper_graph_action.h"
#include "g2o/stuff/misc.h"
#include "g2o_types_slam2d_addons_api.h"
#include "line_2d.h"

namespace g2o {

class G2O_TYPES_SLAM2D_ADDONS_API VertexLine2D : public BaseVertex<2, Line2D> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  VertexLine2D();

  double theta() const { return _estimate[0]; }
  void setTheta(double t) { _estimate[0] = t; }

  double rho() const { return _estimate[1]; }
  void setRho(double r) { _estimate[1] = r; }

  virtual void setToOriginImpl() { _estimate.setZero(); }

  virtual bool setEstimateDataImpl(const double* est) {
    Eigen::Map<const Vector2> v(est);
    _estimate = Line2D(v);
    return true;
  }

  virtual bool getEstimateData(double* est) const {
    Eigen::Map<Vector2> v(est);
    v = _estimate;
    return true;
  }

  virtual int estimateDimension() const { return 2; }

  virtual bool setMinimalEstimateDataImpl(const double* est) {
    return setEstimateData(est);
  }

  virtual bool getMinimalEstimateData(double* est) const {
    return getEstimateData(est);
  }

  virtual int minimalEstimateDimension() const { return 2; }

  virtual void oplusImpl(const double* update) {
    _estimate += Eigen::Map<const Vector2>(update);
    _estimate(0) = normalize_theta(_estimate(0));
  }

  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
  int p1Id, p2Id;
};

#ifdef G2O_HAVE_OPENGL
class G2O_TYPES_SLAM2D_ADDONS_API VertexLine2DDrawAction : public DrawAction {
 public:
  VertexLine2DDrawAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);

 protected:
  FloatProperty* _pointSize;
  virtual bool refreshPropertyPtrs(
      HyperGraphElementAction::Parameters* params_);
};
#endif

}  // namespace g2o

#endif
