/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2023, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/config/CConfigFile.h>
#include <mrpt/maps/CLandmarksMap.h>
#include <mrpt/maps/CMultiMetricMap.h>
#include <mrpt/obs/CObservationBeaconRanges.h>
#include <mrpt/random.h>
#include <mrpt/slam/CRejectionSamplingRangeOnlyLocalization.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/system/os.h>

#include <iostream>

using namespace mrpt;
using namespace mrpt::slam;
using namespace mrpt::maps;
using namespace mrpt::system;
using namespace mrpt::random;
using namespace mrpt::poses;
using namespace mrpt::config;
using namespace std;

float SIGMA = 0.03f;

// ------------------------------------------------------
//				TestRS
// ------------------------------------------------------
void TestRS()
{
	getRandomGenerator().randomize();

	// Load the map:
	CMultiMetricMap map;
	mrpt::maps::TSetOfMetricMapInitializers mapInit;
	mapInit.loadFromConfigFile(CConfigFile("_demo_map.ini"), "MetricMap");
	map.setListOfMaps(mapInit);

	// Create a dummy observation:
	mrpt::obs::CObservationBeaconRanges obs;
	mrpt::obs::CObservationBeaconRanges::TMeasurement meas;
	obs.stdError = SIGMA;

	meas.beaconID = 0;
	meas.sensedDistance = 2.1f;
	meas.sensorLocationOnRobot = CPoint3D(0, 0, 0);
	obs.sensedData.push_back(meas);

	meas.beaconID = 1;
	meas.sensedDistance = 3.1f;
	meas.sensorLocationOnRobot = CPoint3D(0, 0, 0);
	obs.sensedData.push_back(meas);

	meas.beaconID = 2;
	meas.sensedDistance = 1.1f;
	meas.sensorLocationOnRobot = CPoint3D(0, 0, 0);
	//	obs.sensedData.push_back( meas );

	// Rejection Sampling:
	CRejectionSamplingRangeOnlyLocalization RS;
	vector<CRejectionSamplingRangeOnlyLocalization::TParticle> samples;
	CTicTac tictac;

	// Set data:
	auto lmMap = map.mapByClass<CLandmarksMap>();
	ASSERT_(lmMap);

	printf("Preparing...");
	tictac.Tic();
	CPose2D dumPose(0, 0, 0);
	RS.setParams(*lmMap, obs, SIGMA, dumPose);
	printf("Ok! %fms\n", 1000 * tictac.Tac());

	printf("Computing...");
	tictac.Tic();
	RS.rejectionSampling(1000, samples, 1000);
	printf("Ok! %fms\n", 1000 * tictac.Tac());

	FILE* f = os::fopen("_out_samples.txt", "wt");
	vector<CRejectionSamplingRangeOnlyLocalization::TParticle>::iterator it;
	for (it = samples.begin(); it != samples.end(); it++)
		os::fprintf(
			f, "%f %f %f %e\n", it->d->x(), it->d->y(), it->d->phi(),
			it->log_w);

	os::fclose(f);
}

// ------------------------------------------------------
//						MAIN
// ------------------------------------------------------
int main()
{
	try
	{
		TestRS();

		return 0;
	}
	catch (exception& e)
	{
		std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
		return -1;
	}
	catch (...)
	{
		printf("Untyped excepcion!!");
		return -1;
	}
}
