// 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 "edge_se3_line.h"

#include "g2o/stuff/opengl_wrapper.h"

namespace g2o {

EdgeSE3Line3D::EdgeSE3Line3D() {
  information().setIdentity();
  cache = 0;
  offsetParam = 0;
  resizeParameters(1);
  installParameter(offsetParam, 0);
  color << 0.0, 0.5, 1.0;
}

bool EdgeSE3Line3D::read(std::istream& is) {
  bool state = readParamIds(is);
  state &= internal::readVector(is, _measurement);
  state &= readInformationMatrix(is);
  return state;
}

bool EdgeSE3Line3D::write(std::ostream& os) const {
  writeParamIds(os);
  internal::writeVector(os, measurement());
  return writeInformationMatrix(os);
}

void EdgeSE3Line3D::computeError() {
  const VertexSE3* se3Vertex = static_cast<const VertexSE3*>(_vertices[0]);
  const VertexLine3D* lineVertex =
      static_cast<const VertexLine3D*>(_vertices[1]);
  const Line3D& line = lineVertex->estimate();
  Line3D localLine = se3Vertex->estimate().inverse() * line;
  _error = localLine.ominus(_measurement);
}

bool EdgeSE3Line3D::resolveCaches() {
  ParameterVector pv(1);
  pv[0] = offsetParam;
  resolveCache(cache, (OptimizableGraph::Vertex*)_vertices[0],
               "CACHE_SE3_OFFSET", pv);
  return cache != 0;
}

#ifdef G2O_HAVE_OPENGL
EdgeSE3Line3DDrawAction::EdgeSE3Line3DDrawAction()
    : DrawAction(typeid(EdgeSE3Line3D).name()),
      _lineLength(nullptr),
      _lineWidth(nullptr) {}

bool EdgeSE3Line3DDrawAction::refreshPropertyPtrs(
    HyperGraphElementAction::Parameters* params_) {
  if (!DrawAction::refreshPropertyPtrs(params_)) {
    return false;
  }
  if (_previousParams) {
    _lineLength = _previousParams->makeProperty<FloatProperty>(
        _typeName + "::LINE_LENGTH", 4.0f);
    _lineWidth = _previousParams->makeProperty<FloatProperty>(
        _typeName + "::LINE_WIDTH", 2.0f);
  } else {
    _lineLength = 0;
    _lineWidth = 0;
  }
  return true;
}

HyperGraphElementAction* EdgeSE3Line3DDrawAction::operator()(
    HyperGraph::HyperGraphElement* element,
    HyperGraphElementAction::Parameters* params_) {
  if (typeid(*element).name() != _typeName) return nullptr;

  refreshPropertyPtrs(params_);
  if (!_previousParams) return this;

  if (_show && !_show->value()) return this;

  EdgeSE3Line3D* that = dynamic_cast<EdgeSE3Line3D*>(element);

  if (!that) return this;

  const VertexSE3* robot = dynamic_cast<const VertexSE3*>(that->vertex(0));
  const VertexLine3D* landmark =
      dynamic_cast<const VertexLine3D*>(that->vertex(1));

  if (!robot || !landmark) return nullptr;

  if (_lineLength && _lineWidth) {
    Line3D line = that->measurement();
    line.normalize();
    Vector3 direction = line.d();
    Vector3 npoint = line.d().cross(line.w());

    glPushMatrix();
    glMultMatrixd(robot->estimate().matrix().cast<double>().eval().data());
    glColor3f(float(that->color(0)), float(that->color(1)),
              float(that->color(2)));
    glLineWidth(float(_lineWidth->value()));
    glBegin(GL_LINES);
    glNormal3f(float(npoint.x()), float(npoint.y()), float(npoint.z()));
    glVertex3f(float(npoint.x() - direction.x() * _lineLength->value() / 2),
               float(npoint.y() - direction.y() * _lineLength->value() / 2),
               float(npoint.z() - direction.z() * _lineLength->value() / 2));
    glVertex3f(float(npoint.x() + direction.x() * _lineLength->value() / 2),
               float(npoint.y() + direction.y() * _lineLength->value() / 2),
               float(npoint.z() + direction.z() * _lineLength->value() / 2));
    glEnd();
    glPopMatrix();
  }

  return this;
}
#endif

}  // namespace g2o
