/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

/**
 * @file   testPoint2.cpp
 * @brief  Unit tests for Point2 class
 * @author Frank Dellaert
 **/

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/geometry/Point2.h>

using namespace std;
using namespace gtsam;

GTSAM_CONCEPT_TESTABLE_INST(Point2)
GTSAM_CONCEPT_MANIFOLD_INST(Point2)
GTSAM_CONCEPT_LIE_INST(Point2)

/* ************************************************************************* */
TEST(Point2, Lie) {
  Point2 p1(1,2);
  Point2 p2(4,5);
  Matrix H1, H2;

  EXPECT(assert_equal(Point2(5,7), p1.compose(p2, H1, H2)));
  EXPECT(assert_equal(eye(2), H1));
  EXPECT(assert_equal(eye(2), H2));

  EXPECT(assert_equal(Point2(3,3), p1.between(p2, H1, H2)));
  EXPECT(assert_equal(-eye(2), H1));
  EXPECT(assert_equal(eye(2), H2));

  EXPECT(assert_equal(Point2(5,7), p1.expmap(Vector_(2, 4.,5.))));
  EXPECT(assert_equal(Vector_(2, 3.,3.), p1.logmap(p2)));
}

/* ************************************************************************* */
TEST( Point2, expmap)
{
	Vector d(2);
	d(0) = 1;
	d(1) = -1;
	Point2 a(4, 5), b = a.expmap(d), c(5, 4);
	EXPECT(assert_equal(b,c));
}

/* ************************************************************************* */
TEST( Point2, arithmetic)
{
	EXPECT(assert_equal( Point2(-5,-6), -Point2(5,6) ));
	EXPECT(assert_equal( Point2(5,6), Point2(4,5)+Point2(1,1)));
	EXPECT(assert_equal( Point2(3,4), Point2(4,5)-Point2(1,1) ));
	EXPECT(assert_equal( Point2(8,6), Point2(4,3)*2));
	EXPECT(assert_equal( Point2(4,6), 2*Point2(2,3)));
	EXPECT(assert_equal( Point2(2,3), Point2(4,6)/2));
}

/* ************************************************************************* */
TEST( Point2, norm)
{
	Point2 p0(cos(5), sin(5));
	DOUBLES_EQUAL(1,p0.norm(),1e-6);
	Point2 p1(4, 5), p2(1, 1);
	DOUBLES_EQUAL( 5,p1.dist(p2),1e-6);
	DOUBLES_EQUAL( 5,(p2-p1).norm(),1e-6);
}

/* ************************************************************************* */
TEST( Point2, unit)
{
	Point2 p0(10.0, 0.0), p1(0.0,-10.0), p2(10.0, 10.0);
	EXPECT(assert_equal(Point2(1.0, 0.0), p0.unit(), 1e-6));
	EXPECT(assert_equal(Point2(0.0,-1.0), p1.unit(), 1e-6));
	EXPECT(assert_equal(Point2(sqrt(2)/2.0, sqrt(2)/2.0), p2.unit(), 1e-6));
}

/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */