// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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#ifndef G2O_VERTEX_SE2_OFFSET_PARAMETERS_H_
#define G2O_VERTEX_SE2_OFFSET_PARAMETERS_H_


#include "se2.h"
#include "g2o_types_slam2d_api.h"
#include "g2o/core/cache.h"


namespace g2o {

  class VertexSE2;

  /**
   * \brief offset for an SE2
   */
  class G2O_TYPES_SLAM2D_API ParameterSE2Offset: public Parameter
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
      ParameterSE2Offset();

      virtual bool read(std::istream& is);
      virtual bool write(std::ostream& os) const;

      /**
       * update the offset to a new value.
       * re-calculates the different representations, e.g., the rotation matrix
       */
      void setOffset(const SE2& offset_ = SE2());

      const SE2& offset() const { return _offset;}

      //! rotation of the offset as 2x2 rotation matrix
      const Isometry2& offsetMatrix() const { return _offsetMatrix;}

      //! rotation of the inverse offset as 2x2 rotation matrix
      const Isometry2& inverseOffsetMatrix() const { return _inverseOffsetMatrix;}

    protected:
      SE2 _offset;
      Isometry2 _offsetMatrix;
      Isometry2 _inverseOffsetMatrix;
  };

  /**
   * \brief caching the offset related to a vertex
   */
  class G2O_TYPES_SLAM2D_API CacheSE2Offset: public Cache {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
      CacheSE2Offset();
      virtual void updateImpl();

      const ParameterSE2Offset* offsetParam() const { return _offsetParam;}
      void setOffsetParam(ParameterSE2Offset* offsetParam);

      const SE2& w2n() const {return _se2_w2n;}
      const SE2& n2w() const {return _se2_n2w;}

      const Isometry2& w2nMatrix() const { return _w2n;}
      const Isometry2& n2wMatrix() const { return _n2w;}
      const Isometry2& w2lMatrix() const { return _w2l;}

      const Matrix2 RpInverseRInverseMatrix() const { return _RpInverse_RInverse; }
      const Matrix2 RpInverseRInversePrimeMatrix() const { return _RpInverse_RInversePrime; }

    protected:
      ParameterSE2Offset* _offsetParam; ///< the parameter connected to the cache
      SE2 _se2_w2n;
      SE2 _se2_n2w;

      Isometry2 _w2n; ///< world to sensor transform
      Isometry2 _w2l; ///< world to local
      Isometry2 _n2w; ///< sensor to world
      Matrix2 _RpInverse_RInverse;
      Matrix2 _RpInverse_RInversePrime;
      
    protected:
      virtual bool resolveDependancies();
      
  };

}

#endif
