/* +------------------------------------------------------------------------+
   |                     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/gui/CDisplayWindowPlots.h>
#include <mrpt/math/CSplineInterpolator1D.h>
#include <mrpt/math/utils.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DInterpolator.h>
#include <mrpt/random.h>
#include <mrpt/system/datetime.h>
#include <mrpt/system/os.h>

#include <iostream>
#include <mrpt/math/interp_fit.hpp>

using namespace mrpt::gui;
using namespace mrpt::random;
using namespace mrpt::math;
using namespace std;

// ------------------------------------------------------
//				TestCapture
// ------------------------------------------------------
void TestCPose3DInterpolation()
{
	mrpt::Clock::time_point iniTs = mrpt::Clock::now();
	mrpt::Clock::time_point ts = iniTs;
	mrpt::Clock::time_point ots = iniTs;
	mrpt::poses::CPose3D pose(0, 0, 0, 0, 0, 0);
	mrpt::poses::CPose3DInterpolator poseInt;
	std::vector<mrpt::poses::CPose3D> p;
	mrpt::poses::CPose3D outPose(0, 0, 0, 0, 0, 0);
	bool valid;

	FILE* f = mrpt::system::os::fopen("interpolation.txt", "wt");

	// Set the maximum value of the interval time for considering interpolation
	poseInt.setMaxTimeInterpolation(std::chrono::seconds(1));

	poseInt.insert(ts, pose);  // First point

	ts += std::chrono::seconds(1);
	pose.setFromValues(1, 1, 0, 0, 1, 0);
	poseInt.insert(ts, pose);  // Second point

	ts += std::chrono::seconds(1);
	pose.setFromValues(2, 2.5, 1, 0, 1.3, 0);
	poseInt.insert(ts, pose);  // Third point

	ts += std::chrono::seconds(1);
	pose.setFromValues(3, 1.7, 2, 0, 1.57, 0);
	poseInt.insert(ts, pose);  // Fourth point

	unsigned int i;
	for (i = 0, ots = iniTs; ots <= iniTs + std::chrono::seconds(3);
		 ots += std::chrono::milliseconds(100), i++)
	{
		poseInt.interpolate(ots, outPose, valid);
		p.push_back(outPose);
		mrpt::system::os::fprintf(
			f, "%d %f %f %f %f %f %f\n", i, outPose.x(), outPose.y(),
			outPose.z(), outPose.yaw(), outPose.pitch(), outPose.roll());
	}

	mrpt::system::os::fclose(f);

}  // end TestCPose3DInterpolation

void TestSplineInterpolation()
{
	FILE* f = mrpt::system::os::fopen("out2", "wt");

	CVectorDouble x, y;
	double t;
	x.resize(4);
	y.resize(4);

	// x[0] = 0.0;	x[1] = 1.0;	x[2] = 2.0;	x[3] = 4.0;
	// y[0] = 0.0;	y[1] = 1.0;	y[2] = 1.8;	y[3] = 1.6;

	x[0] = -1.5;
	x[1] = -0.5;
	x[2] = 0.5;
	x[3] = 1.5;
	y[0] = 3.14;
	y[1] = -3.10;
	y[2] = -3.05;
	y[3] = 3.10;

	CVectorDouble ts, ys_interp;

	for (t = x[1]; t <= x[2]; t += 0.01)
	{
		double w = mrpt::math::spline(t, x, y);	 // wrap no
		//		double w = mrpt::math::spline(t, x, y, true); // wrap yes
		ts.push_back(t);
		ys_interp.push_back(w);
		mrpt::system::os::fprintf(f, "%f %f\n", t, w);
	}

	mrpt::system::os::fclose(f);
	cout << "Done" << endl;

#if MRPT_HAS_WXWIDGETS
	CDisplayWindowPlots figure("Interpolation results");
	figure.plot(x, y, "r.4", "true points");
	figure.plot(ts, ys_interp, "b", "interp");

	figure.axis_equal();
	figure.axis_fit();

	figure.waitForKey();
#endif
}

void TestSplineInterpolationVector()
{
	const size_t N = 15;
	CVectorDouble data_x, data_y(N);

	// Create random data:
	mrpt::math::linspace(-20.0, 20.0, N, data_x);
	getRandomGenerator().drawGaussian1DVector(data_y, 2.0, 1.0);

	// Create interpolator
	mrpt::math::CSplineInterpolator1D interp(data_x, data_y);

	// Generate sequence of where to interpolate:
	CVectorDouble xs;
	mrpt::math::linspace(-20.0, 20.0, 500, xs);

	CVectorDouble ys;
	bool valid = interp.queryVector(xs, ys);
	ASSERT_(valid);

#if MRPT_HAS_WXWIDGETS
	CDisplayWindowPlots figure("Interpolation results");
	figure.plot(data_x, data_y, "r.6", "true points");
	figure.plot(xs, ys, "b", "interp");

	figure.axis_equal();
	figure.axis_fit();

	figure.waitForKey();
#endif
}

int main(int argc, char** argv)
{
	try
	{
		TestSplineInterpolationVector();
		// TestSplineInterpolation();
		// TestCPose3DInterpolation();

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