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

 * 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 testBoundingConstraint.cpp
 * @brief test of nonlinear inequality constraints on scalar bounds
 * @author Alex Cunningham
 */

#include <CppUnitLite/TestHarness.h>

#include <gtsam/slam/simulated2DConstraints.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>

namespace iq2D = simulated2D::inequality_constraints;
using namespace std;
using namespace gtsam;

static const double tol = 1e-5;

SharedDiagonal soft_model2 = noiseModel::Unit::Create(2);
SharedDiagonal soft_model2_alt = noiseModel::Isotropic::Sigma(2, 0.1);
SharedDiagonal hard_model1 = noiseModel::Constrained::All(1);

// some simple inequality constraints
Symbol key(simulated2D::PoseKey(1));
double mu = 10.0;
// greater than
iq2D::PoseXInequality constraint1(key, 1.0, true, mu);
iq2D::PoseYInequality constraint2(key, 2.0, true, mu);

// less than
iq2D::PoseXInequality constraint3(key, 1.0, false, mu);
iq2D::PoseYInequality constraint4(key, 2.0, false, mu);

/* ************************************************************************* */
TEST( testBoundingConstraint, unary_basics_inactive1 ) {
	Point2 pt1(2.0, 3.0);
	Values config;
	config.insert(key, pt1);
	EXPECT(!constraint1.active(config));
	EXPECT(!constraint2.active(config));
	EXPECT_DOUBLES_EQUAL(1.0, constraint1.threshold(), tol);
	EXPECT_DOUBLES_EQUAL(2.0, constraint2.threshold(), tol);
	EXPECT(constraint1.isGreaterThan());
	EXPECT(constraint2.isGreaterThan());
	EXPECT(assert_equal(ones(1), constraint1.evaluateError(pt1), tol));
	EXPECT(assert_equal(ones(1), constraint2.evaluateError(pt1), tol));
	EXPECT(assert_equal(zero(1), constraint1.unwhitenedError(config), tol));
	EXPECT(assert_equal(zero(1), constraint2.unwhitenedError(config), tol));
	EXPECT_DOUBLES_EQUAL(0.0, constraint1.error(config), tol);
	EXPECT_DOUBLES_EQUAL(0.0, constraint2.error(config), tol);
}

/* ************************************************************************* */
TEST( testBoundingConstraint, unary_basics_inactive2 ) {
	Point2 pt2(-2.0, -3.0);
	Values config;
	config.insert(key, pt2);
	EXPECT(!constraint3.active(config));
	EXPECT(!constraint4.active(config));
	EXPECT_DOUBLES_EQUAL(1.0, constraint3.threshold(), tol);
	EXPECT_DOUBLES_EQUAL(2.0, constraint4.threshold(), tol);
	EXPECT(!constraint3.isGreaterThan());
	EXPECT(!constraint4.isGreaterThan());
	EXPECT(assert_equal(repeat(1, 3.0), constraint3.evaluateError(pt2), tol));
	EXPECT(assert_equal(repeat(1, 5.0), constraint4.evaluateError(pt2), tol));
	EXPECT(assert_equal(zero(1), constraint3.unwhitenedError(config), tol));
	EXPECT(assert_equal(zero(1), constraint4.unwhitenedError(config), tol));
	EXPECT_DOUBLES_EQUAL(0.0, constraint3.error(config), tol);
	EXPECT_DOUBLES_EQUAL(0.0, constraint4.error(config), tol);
}

/* ************************************************************************* */
TEST( testBoundingConstraint, unary_basics_active1 ) {
	Point2 pt2(-2.0, -3.0);
	Values config;
	config.insert(key, pt2);
	EXPECT(constraint1.active(config));
	EXPECT(constraint2.active(config));
	EXPECT(assert_equal(repeat(1,-3.0), constraint1.evaluateError(pt2), tol));
	EXPECT(assert_equal(repeat(1,-5.0), constraint2.evaluateError(pt2), tol));
	EXPECT(assert_equal(repeat(1,-3.0), constraint1.unwhitenedError(config), tol));
	EXPECT(assert_equal(repeat(1,-5.0), constraint2.unwhitenedError(config), tol));
	EXPECT_DOUBLES_EQUAL(45.0, constraint1.error(config), tol);
	EXPECT_DOUBLES_EQUAL(125.0, constraint2.error(config), tol);
}

/* ************************************************************************* */
TEST( testBoundingConstraint, unary_basics_active2 ) {
	Point2 pt1(2.0, 3.0);
	Values config;
	config.insert(key, pt1);
	EXPECT(constraint3.active(config));
	EXPECT(constraint4.active(config));
	EXPECT(assert_equal(-1.0 * ones(1), constraint3.evaluateError(pt1), tol));
	EXPECT(assert_equal(-1.0 * ones(1), constraint4.evaluateError(pt1), tol));
	EXPECT(assert_equal(-1.0 * ones(1), constraint3.unwhitenedError(config), tol));
	EXPECT(assert_equal(-1.0 * ones(1), constraint4.unwhitenedError(config), tol));
	EXPECT_DOUBLES_EQUAL(5.0, constraint3.error(config), tol);
	EXPECT_DOUBLES_EQUAL(5.0, constraint4.error(config), tol);
}

/* ************************************************************************* */
TEST( testBoundingConstraint, unary_linearization_inactive) {
	Point2 pt1(2.0, 3.0);
	Values config1;
	config1.insert(key, pt1);
	Ordering ordering;
	ordering += key;
	GaussianFactor::shared_ptr actual1 = constraint1.linearize(config1, ordering);
	GaussianFactor::shared_ptr actual2 = constraint2.linearize(config1, ordering);
	EXPECT(!actual1);
	EXPECT(!actual2);
}

/* ************************************************************************* */
TEST( testBoundingConstraint, unary_linearization_active) {
	Point2 pt2(-2.0, -3.0);
	Values config2;
	config2.insert(key, pt2);
	Ordering ordering;
	ordering += key;
	GaussianFactor::shared_ptr actual1 = constraint1.linearize(config2, ordering);
	GaussianFactor::shared_ptr actual2 = constraint2.linearize(config2, ordering);
	JacobianFactor expected1(ordering[key], Matrix_(1, 2, 1.0, 0.0), repeat(1, 3.0), hard_model1);
	JacobianFactor expected2(ordering[key], Matrix_(1, 2, 0.0, 1.0), repeat(1, 5.0), hard_model1);
	EXPECT(assert_equal((const GaussianFactor&)expected1, *actual1, tol));
	EXPECT(assert_equal((const GaussianFactor&)expected2, *actual2, tol));
}

/* ************************************************************************* */
TEST( testBoundingConstraint, unary_simple_optimization1) {
	// create a single-node graph with a soft and hard constraint to
	// ensure that the hard constraint overrides the soft constraint
	Point2 goal_pt(1.0, 2.0);
	Point2 start_pt(0.0, 1.0);

	NonlinearFactorGraph graph;
	Symbol x1('x',1);
	graph.add(iq2D::PoseXInequality(x1, 1.0, true));
	graph.add(iq2D::PoseYInequality(x1, 2.0, true));
	graph.add(simulated2D::Prior(start_pt, soft_model2, x1));

	Values initValues;
	initValues.insert(x1, start_pt);

	Values actual = LevenbergMarquardtOptimizer(graph, initValues).optimize();
	Values expected;
	expected.insert(x1, goal_pt);
	CHECK(assert_equal(expected, actual, tol));
}

/* ************************************************************************* */
TEST( testBoundingConstraint, unary_simple_optimization2) {
	// create a single-node graph with a soft and hard constraint to
	// ensure that the hard constraint overrides the soft constraint
	Point2 goal_pt(1.0, 2.0);
	Point2 start_pt(2.0, 3.0);

	NonlinearFactorGraph graph;
	Symbol x1('x',1);
	graph.add(iq2D::PoseXInequality(x1, 1.0, false));
	graph.add(iq2D::PoseYInequality(x1, 2.0, false));
	graph.add(simulated2D::Prior(start_pt, soft_model2, x1));

	Values initValues;
	initValues.insert(x1, start_pt);

	Values actual = LevenbergMarquardtOptimizer(graph, initValues).optimize();
	Values expected;
	expected.insert(x1, goal_pt);
	CHECK(assert_equal(expected, actual, tol));
}

/* ************************************************************************* */
TEST( testBoundingConstraint, MaxDistance_basics) {
	Symbol key1('x',1), key2('x',2);
	Point2 pt1, pt2(1.0, 0.0), pt3(2.0, 0.0), pt4(3.0, 0.0);
	iq2D::PoseMaxDistConstraint rangeBound(key1, key2, 2.0, mu);
	EXPECT_DOUBLES_EQUAL(2.0, rangeBound.threshold(), tol);
	EXPECT(!rangeBound.isGreaterThan());
	EXPECT(rangeBound.dim() == 1);

	EXPECT(assert_equal(Vector_(1, 2.0), rangeBound.evaluateError(pt1, pt1)));
	EXPECT(assert_equal(ones(1), rangeBound.evaluateError(pt1, pt2)));
	EXPECT(assert_equal(zero(1), rangeBound.evaluateError(pt1, pt3)));
	EXPECT(assert_equal(-1.0*ones(1), rangeBound.evaluateError(pt1, pt4)));

	Values config1;
	config1.insert(key1, pt1);
	config1.insert(key2, pt1);
	Ordering ordering; ordering += key1, key2;
	EXPECT(!rangeBound.active(config1));
	EXPECT(assert_equal(zero(1), rangeBound.unwhitenedError(config1)));
	EXPECT(!rangeBound.linearize(config1, ordering));
	EXPECT_DOUBLES_EQUAL(0.0, rangeBound.error(config1), tol);

	config1.update(key2, pt2);
	EXPECT(!rangeBound.active(config1));
	EXPECT(assert_equal(zero(1), rangeBound.unwhitenedError(config1)));
	EXPECT(!rangeBound.linearize(config1, ordering));
	EXPECT_DOUBLES_EQUAL(0.0, rangeBound.error(config1), tol);

	config1.update(key2, pt3);
	EXPECT(rangeBound.active(config1));
	EXPECT(assert_equal(zero(1), rangeBound.unwhitenedError(config1)));
	EXPECT_DOUBLES_EQUAL(0.0, rangeBound.error(config1), tol);

	config1.update(key2, pt4);
	EXPECT(rangeBound.active(config1));
	EXPECT(assert_equal(-1.0*ones(1), rangeBound.unwhitenedError(config1)));
	EXPECT_DOUBLES_EQUAL(0.5*mu, rangeBound.error(config1), tol);
}

/* ************************************************************************* */
TEST( testBoundingConstraint, MaxDistance_simple_optimization) {

	Point2 pt1, pt2_init(5.0, 0.0), pt2_goal(2.0, 0.0);
  Symbol x1('x',1), x2('x',2);

	NonlinearFactorGraph graph;
	graph.add(simulated2D::equality_constraints::UnaryEqualityConstraint(pt1, x1));
	graph.add(simulated2D::Prior(pt2_init, soft_model2_alt, x2));
	graph.add(iq2D::PoseMaxDistConstraint(x1, x2, 2.0));

	Values initial_state;
	initial_state.insert(x1, pt1);
	initial_state.insert(x2, pt2_init);

	Values expected;
	expected.insert(x1, pt1);
	expected.insert(x2, pt2_goal);

	// FAILS: VectorValues assertion failure
//	Optimizer::shared_values actual = Optimizer::optimizeLM(graph, initial_state);
//	EXPECT(assert_equal(expected, *actual, tol));
}

/* ************************************************************************* */
TEST( testBoundingConstraint, avoid_demo) {

  Symbol x1('x',1), x2('x',2), x3('x',3), l1('l',1);
	double radius = 1.0;
	Point2 x1_pt, x2_init(2.0, 0.5), x2_goal(2.0, 1.0), x3_pt(4.0, 0.0), l1_pt(2.0, 0.0);
	Point2 odo(2.0, 0.0);

	NonlinearFactorGraph graph;
	graph.add(simulated2D::equality_constraints::UnaryEqualityConstraint(x1_pt, x1));
	graph.add(simulated2D::Odometry(odo, soft_model2_alt, x1, x2));
	graph.add(iq2D::LandmarkAvoid(x2, l1, radius));
	graph.add(simulated2D::equality_constraints::UnaryEqualityPointConstraint(l1_pt, l1));
	graph.add(simulated2D::Odometry(odo, soft_model2_alt, x2, x3));
	graph.add(simulated2D::equality_constraints::UnaryEqualityConstraint(x3_pt, x3));

	Values init, expected;
	init.insert(x1, x1_pt);
	init.insert(x3, x3_pt);
	init.insert(l1, l1_pt);
	expected = init;
	init.insert(x2, x2_init);
	expected.insert(x2, x2_goal);

	// FAILS: segfaults on optimization
//	Optimizer::shared_values actual = Optimizer::optimizeLM(graph, init);
//	EXPECT(assert_equal(expected, *actual, tol));
}

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