// 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_EDGE_SE2_SEGMENT2D_H
#define G2O_EDGE_SE2_SEGMENT2D_H

#include "g2o/config.h"
#include "g2o/core/base_binary_edge.h"
#include "g2o/types/slam2d/vertex_se2.h"
#include "g2o_types_slam2d_addons_api.h"
#include "vertex_segment2d.h"

namespace g2o {

class EdgeSE2Segment2D
    : public BaseBinaryEdge<4, Vector4, VertexSE2, VertexSegment2D> {
 public:
  G2O_TYPES_SLAM2D_ADDONS_API EdgeSE2Segment2D();

  G2O_TYPES_SLAM2D_ADDONS_API Vector2 measurementP1() {
    return Eigen::Map<const Vector2>(&(_measurement[0]));
  }
  G2O_TYPES_SLAM2D_ADDONS_API Vector2 measurementP2() {
    return Eigen::Map<const Vector2>(&(_measurement[2]));
  }
  G2O_TYPES_SLAM2D_ADDONS_API void setMeasurementP1(const Vector2& p1) {
    Eigen::Map<Vector2> v(&_measurement[0]);
    v = p1;
  }
  G2O_TYPES_SLAM2D_ADDONS_API void setMeasurementP2(const Vector2& p2) {
    Eigen::Map<Vector2> v(&_measurement[2]);
    v = p2;
  }

  G2O_TYPES_SLAM2D_ADDONS_API void computeError() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexSegment2D* l2 =
        static_cast<const VertexSegment2D*>(_vertices[1]);
    Eigen::Map<Vector2> error1(&_error(0));
    Eigen::Map<Vector2> error2(&_error(2));
    SE2 iEst = v1->estimate().inverse();
    error1 = (iEst * l2->estimateP1());
    error2 = (iEst * l2->estimateP2());
    _error = _error - _measurement;
  }

  G2O_TYPES_SLAM2D_ADDONS_API virtual bool setMeasurementData(const double* d) {
    Eigen::Map<const Vector4> data(d);
    _measurement = data;
    return true;
  }

  G2O_TYPES_SLAM2D_ADDONS_API virtual bool getMeasurementData(double* d) const {
    Eigen::Map<Vector4> data(d);
    data = _measurement;
    return true;
  }

  G2O_TYPES_SLAM2D_ADDONS_API virtual int measurementDimension() const {
    return 4;
  }

  G2O_TYPES_SLAM2D_ADDONS_API virtual bool setMeasurementFromState() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexSegment2D* l2 =
        static_cast<const VertexSegment2D*>(_vertices[1]);
    SE2 iEst = v1->estimate().inverse();
    setMeasurementP1(iEst * l2->estimateP1());
    setMeasurementP2(iEst * l2->estimateP2());
    return true;
  }

  G2O_TYPES_SLAM2D_ADDONS_API virtual bool read(std::istream& is);
  G2O_TYPES_SLAM2D_ADDONS_API virtual bool write(std::ostream& os) const;

  G2O_TYPES_SLAM2D_ADDONS_API virtual void initialEstimate(
      const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to);
  G2O_TYPES_SLAM2D_ADDONS_API virtual double initialEstimatePossible(
      const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to) {
    (void)to;
    return (from.count(_vertices[0]) == 1 ? 1.0 : -1.0);
  }
};

}  // namespace g2o

#endif
