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

 * 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  pose3SLAM.h
 *  @brief: 3D Pose SLAM
 *  @authors Frank Dellaert
 **/

#pragma once

#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/LieValues.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/Key.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/NonlinearOptimizer.h>

namespace gtsam {

	// Use pose3SLAM namespace for specific SLAM instance
	namespace pose3SLAM {

		// Keys and Values
		typedef TypedSymbol<Pose3, 'x'> Key;
		typedef LieValues<Key> Values;

		/**
		 * Create a circle of n 3D poses tangent to circle of radius R, first pose at (R,0)
		 * @param n number of poses
		 * @param R radius of circle
		 * @param c character to use for keys
		 * @return circle of n 3D poses
		 */
		Values circle(size_t n, double R);

		// Factors
		typedef PriorFactor<Values, Key> Prior;
		typedef BetweenFactor<Values, Key> Constraint;
		typedef NonlinearEquality<Values, Key> HardConstraint;

		// Graph
		struct Graph: public NonlinearFactorGraph<Values> {
			void addPrior(const Key& i, const Pose3& p,
					const SharedGaussian& model);
			void addConstraint(const Key& i, const Key& j, const Pose3& z,
					const SharedGaussian& model);
			void addHardConstraint(const Key& i, const Pose3& p);
		};

		// Optimizer
		typedef NonlinearOptimizer<Graph, Values> Optimizer;

	} // pose3SLAM

	/**
	 * Backwards compatibility
	 */
	typedef pose3SLAM::Values Pose3Values;
	typedef pose3SLAM::Prior Pose3Prior;
	typedef pose3SLAM::Constraint Pose3Factor;
	typedef pose3SLAM::Graph Pose3Graph;

} // namespace gtsam