// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef G2O_TYPES_SLAM3D_ONLINE_H
#define G2O_TYPES_SLAM3D_ONLINE_H

#include "g2o_interactive_api.h"
#include "g2o/types/slam3d/edge_se3.h"

#include <iostream>

namespace g2o {
  
  using namespace Eigen;

  class G2O_INTERACTIVE_API OnlineVertexSE3 : public VertexSE3
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
      OnlineVertexSE3() : VertexSE3(), updatedEstimate(Eigen::Isometry3d::Identity()) {}

      virtual void oplusImpl(const double* update)
      {
        VertexSE3::oplusImpl(update);
        updatedEstimate = _estimate;
      }

      void oplusUpdatedEstimate(double* update)
      {
        Map<const Vector6d> v(update);
        Eigen::Isometry3d increment = internal::fromVectorMQT(v);
        updatedEstimate = _estimate * increment;
      }

      VertexSE3::EstimateType updatedEstimate;
  };

  class G2O_INTERACTIVE_API OnlineEdgeSE3 : public EdgeSE3
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
      OnlineEdgeSE3() : EdgeSE3() {}

      void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* /* to */)
      {
        OnlineVertexSE3* fromEdge = static_cast<OnlineVertexSE3*>(_vertices[0]);
        OnlineVertexSE3* toEdge   = static_cast<OnlineVertexSE3*>(_vertices[1]);
        if (from.count(fromEdge) > 0) {
          toEdge->updatedEstimate = fromEdge->updatedEstimate * _measurement;
          toEdge->setEstimate(toEdge->updatedEstimate);
        } else {
          fromEdge->updatedEstimate = toEdge->updatedEstimate * _inverseMeasurement;
          fromEdge->setEstimate(fromEdge->updatedEstimate);
        }
      }

      double chi2() const
      {
        OnlineVertexSE3 *from = static_cast<OnlineVertexSE3*>(_vertices[0]);
        OnlineVertexSE3 *to   = static_cast<OnlineVertexSE3*>(_vertices[1]);
        Eigen::Isometry3d delta = _inverseMeasurement * from->estimate().inverse() * to->estimate();
        Vector6d error = internal::toVectorMQT(delta);
        return error.dot(information() * error);
      }
  };

} // end namespace

#endif
