// g2o - General Graph Optimization
// Copyright (C) 2011 G. Grisetti, R. Kuemmerle, 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 "sensor_pointxy_offset.h"
#include "g2o/core/factory.h"

namespace g2o {
  using namespace std;
  using namespace Eigen;

  // SensorPointXYOffset
  SensorPointXYOffset::SensorPointXYOffset(const std::string& name_): BinarySensor<Robot2D, EdgeSE2PointXYOffset, WorldObjectPointXY>(name_) {
    _offsetParam = 0;
    _information.setIdentity();
    _information*=1000.;
    setInformation(_information);
  }

  bool SensorPointXYOffset::isVisible(SensorPointXYOffset::WorldObjectType* to){
    if (! _robotPoseObject)
      return false;
    assert(to && to->vertex());
    VertexType* v=to->vertex();
    VertexType::EstimateType pose=v->estimate();
    VertexType::EstimateType delta = _sensorPose.inverse()*pose;
    Vector2d translation=delta;
    double range2=translation.squaredNorm();
    if (range2>_maxRange2)
      return false;
    if (range2<_minRange2)
      return false;
    translation.normalize();
    // the cameras have the z in front
    double bearing=atan2(translation.y(), translation.x());
    if (fabs(bearing)>_fov)
       return false;
    //cerr <<"a";
    return true;
  }

  void SensorPointXYOffset::addParameters(){
    if (!_offsetParam)
      _offsetParam = new ParameterSE2Offset();
    assert(world());
    world()->addParameter(_offsetParam);
  }

  void SensorPointXYOffset::addNoise(EdgeType* e){
    EdgeType::ErrorVector n=_sampler.generateSample();
    e->setMeasurement(e->measurement()+n);
    e->setInformation(information());
  }

  void SensorPointXYOffset::sense() {
    if (! _offsetParam){
      return;
    }
    _robotPoseObject=0;
    RobotType* r= dynamic_cast<RobotType*>(robot());
    std::list<PoseObject*>::reverse_iterator it=r->trajectory().rbegin();
    int count = 0;
    while (it!=r->trajectory().rend() && count < 1){
      if (!_robotPoseObject)
  _robotPoseObject = *it;
      it++;
      count++;
    }
    if (!_robotPoseObject)
      return;
    _sensorPose = _robotPoseObject->vertex()->estimate()*_offsetParam->offset();
    for (std::set<BaseWorldObject*>::iterator it=world()->objects().begin();
   it!=world()->objects().end(); it++){
      WorldObjectType* o=dynamic_cast<WorldObjectType*>(*it);
      if (o && isVisible(o)){
  EdgeType* e=mkEdge(o);
  e->setParameterId(0,_offsetParam->id());
  if (e && graph()) {
    graph()->addEdge(e);
    e->setMeasurementFromState();
          addNoise(e);
  }
      }
    }
  }

}
