/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "cartographer/transform/rigid_transform.h"

#include <vector>

#include "Eigen/Core"
#include "Eigen/Geometry"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "glog/logging.h"

namespace cartographer {
namespace transform {

namespace {

Eigen::Vector3d TranslationFromDictionary(
    common::LuaParameterDictionary* dictionary) {
  const std::vector<double> translation = dictionary->GetArrayValuesAsDoubles();
  CHECK_EQ(3, translation.size()) << "Need (x, y, z) for translation.";
  return Eigen::Vector3d(translation[0], translation[1], translation[2]);
}

}  // namespace

Eigen::Quaterniond RollPitchYaw(const double roll, const double pitch,
                                const double yaw) {
  const Eigen::AngleAxisd roll_angle(roll, Eigen::Vector3d::UnitX());
  const Eigen::AngleAxisd pitch_angle(pitch, Eigen::Vector3d::UnitY());
  const Eigen::AngleAxisd yaw_angle(yaw, Eigen::Vector3d::UnitZ());
  return yaw_angle * pitch_angle * roll_angle;
}

transform::Rigid3d FromDictionary(common::LuaParameterDictionary* dictionary) {
  const Eigen::Vector3d translation =
      TranslationFromDictionary(dictionary->GetDictionary("translation").get());

  auto rotation_dictionary = dictionary->GetDictionary("rotation");
  if (rotation_dictionary->HasKey("w")) {
    const Eigen::Quaterniond rotation(rotation_dictionary->GetDouble("w"),
                                      rotation_dictionary->GetDouble("x"),
                                      rotation_dictionary->GetDouble("y"),
                                      rotation_dictionary->GetDouble("z"));
    CHECK_NEAR(rotation.norm(), 1., 1e-9);
    return transform::Rigid3d(translation, rotation);
  } else {
    const std::vector<double> rotation =
        rotation_dictionary->GetArrayValuesAsDoubles();
    CHECK_EQ(3, rotation.size()) << "Need (roll, pitch, yaw) for rotation.";
    return transform::Rigid3d(
        translation, RollPitchYaw(rotation[0], rotation[1], rotation[2]));
  }
}

}  // namespace transform
}  // namespace cartographer