// 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_types_slam2d_addons_api.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/vertex_point_xy.h"
#include "line_2d.h"

#include <Eigen/Core>

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 Eigen::Vector2d> v(est);
        _estimate=Line2D(v);
        return true;
      }

      virtual bool getEstimateData(double* est) const{
        Eigen::Map<Eigen::Vector2d> 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 Eigen::Vector2d>(update);
        _estimate(0) = normalize_theta(_estimate(0));
      }

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

  /* class G2O_TYPES_SLAM2D_ADDONS_API VertexLine2DWriteGnuplotAction: public WriteGnuplotAction { */
  /* public: */
  /*   VertexLine2DWriteGnuplotAction(); */
  /*   virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element,  */
  /*           HyperGraphElementAction::Parameters* params_); */
  /* }; */

#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

}

#endif
