// 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
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#include "edge_se3_offset.h"

#include <cassert>
#include <iostream>

#include "isometry3d_gradients.h"
#include "parameter_se3_offset.h"

namespace g2o {
using namespace std;
using namespace Eigen;

EdgeSE3Offset::EdgeSE3Offset() : EdgeSE3() {
  information().setIdentity();
  _offsetFrom = 0;
  _offsetTo = 0;
  _cacheFrom = 0;
  _cacheTo = 0;
  resizeParameters(2);
  installParameter(_offsetFrom, 0);
  installParameter(_offsetTo, 1);
}

bool EdgeSE3Offset::resolveCaches() {
  assert(_offsetFrom && _offsetTo);

  ParameterVector pv(2);
  pv[0] = _offsetFrom;
  resolveCache(_cacheFrom, (OptimizableGraph::Vertex*)_vertices[0],
               "CACHE_SE3_OFFSET", pv);
  pv[0] = _offsetTo;
  resolveCache(_cacheTo, (OptimizableGraph::Vertex*)_vertices[1],
               "CACHE_SE3_OFFSET", pv);
  return (_cacheFrom && _cacheTo);
}

bool EdgeSE3Offset::read(std::istream& is) {
  bool state = readParamIds(is);

  Vector7 meas;
  state &= internal::readVector(is, meas);
  // normalize the quaternion to recover numerical precision lost by storing as
  // human readable text
  Vector4::MapType(meas.data() + 3).normalize();
  setMeasurement(internal::fromVectorQT(meas));

  state &= readInformationMatrix(is);
  return state;
}

bool EdgeSE3Offset::write(std::ostream& os) const {
  writeParamIds(os);
  internal::writeVector(os, internal::toVectorQT(_measurement));
  writeInformationMatrix(os);
  return os.good();
}

void EdgeSE3Offset::computeError() {
  Isometry3 delta = _inverseMeasurement * _cacheFrom->w2n() * _cacheTo->n2w();
  _error = internal::toVectorMQT(delta);
}

bool EdgeSE3Offset::setMeasurementFromState() {
  Isometry3 delta = _cacheFrom->w2n() * _cacheTo->n2w();
  setMeasurement(delta);
  return true;
}

void EdgeSE3Offset::linearizeOplus() {
  // BaseBinaryEdge<6, SE3Quat, VertexSE3, VertexSE3>::linearizeOplus();

  VertexSE3* from = static_cast<VertexSE3*>(_vertices[0]);
  VertexSE3* to = static_cast<VertexSE3*>(_vertices[1]);
  Isometry3 E;
  const Isometry3& Xi = from->estimate();
  const Isometry3& Xj = to->estimate();
  const Isometry3& Pi = _cacheFrom->offsetParam()->offset();
  const Isometry3& Pj = _cacheTo->offsetParam()->offset();
  const Isometry3& Z = _measurement;
  internal::computeEdgeSE3Gradient(E, _jacobianOplusXi, _jacobianOplusXj, Z, Xi,
                                   Xj, Pi, Pj);
}

void EdgeSE3Offset::initialEstimate(const OptimizableGraph::VertexSet& from_,
                                    OptimizableGraph::Vertex* /*to_*/) {
  VertexSE3* from = static_cast<VertexSE3*>(_vertices[0]);
  VertexSE3* to = static_cast<VertexSE3*>(_vertices[1]);

  Isometry3 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
