/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Homogeneous matrix.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

/*!
  \file vpHomogeneousMatrix.h
  \brief Definition and computation on the homogeneous matrices
*/

#ifndef VPHOMOGENEOUSMATRIX_HH
#define VPHOMOGENEOUSMATRIX_HH

class vpTranslationVector;
class vpPoseVector;
class vpMatrix;
class vpRotationMatrix;
class vpPoseVector;
class vpThetaUVector;
class vpQuaternionVector;
class vpPoint;

#include <fstream>
#include <vector>

#include <visp3/core/vpArray2D.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpThetaUVector.h>
//#include <visp3/core/vpTranslationVector.h>
#include <visp3/core/vpPoseVector.h>

/*!
  \class vpHomogeneousMatrix

  \ingroup group_core_transformations

  \brief Implementation of an homogeneous matrix and operations on such kind
  of matrices.

  The class provides a data structure for the homogeneous matrices
  as well as a set of operations on these matrices.

  The vpHomogeneousMatrix class is derived from vpArray2D<double>.

  An homogeneous matrix is 4x4 matrix defines as
  \f[
  ^a{\bf M}_b = \left(\begin{array}{cc}
  ^a{\bf R}_b & ^a{\bf t}_b \\
  {\bf 0}_{1\times 3} & 1
  \end{array}
  \right)
  \f]
  that defines the position of frame <em>b</em> in frame <em>a</em>

  \f$ ^a{\bf R}_b \f$ is a rotation matrix and
  \f$ ^a{\bf t}_b \f$ is a translation vector.

  There are different ways to initialize an homogeneous matrix. You can set each element of the matrix like:
  \code
#include <visp3/core/vpHomogeneousMatrix.h>

int main()
{
  vpHomogeneousMatrix M;
  M[0][0] =  0; M[0][1] =  0; M[0][2] = -1; M[0][3] = 0.1;
  M[1][0] =  0; M[1][1] = -1; M[1][2] =  0; M[1][3] = 0.2;
  M[2][0] = -1; M[2][1] =  0; M[2][2] =  0; M[2][3] = 0.3;

  std::cout << "M:" << std::endl;
  for (unsigned int i = 0; i < M.getRows(); i++) {
    for (unsigned int j = 0; j < M.getCols(); j++) {
      std::cout << M[i][j] << " ";
    }
    std::cout << std::endl;
  }
}
  \endcode
  It produces the following printings:
  \code
M:
0 0 -1 0.1
0 -1 0 0.2
-1 0 0 0.3
0 0 0 1
  \endcode
  You can also use vpRotationMatrix::operator<< and vpTranslationVector::operator<< like:
  \code
#include <visp3/core/vpHomogeneousMatrix.h>

int main()
{
  vpTranslationVector t;
  vpRotationMatrix R;
  R << 0, 0, -1,
       0, -1, 0,
       -1, 0, 0;
  t << 0.1, 0.2, 0.3;
  vpHomogeneousMatrix M(t, R);
  std::cout << "M:\n" << M << std::endl;
}
  \endcode
  If ViSP is build with c++11 enabled, you can do the same using:
  \code
#include <visp3/core/vpHomogeneousMatrix.h>

int main()
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  {
    vpHomogeneousMatrix M( vpTranslationVector(0.1, 0.2, 0.3), vpRotationMatrix( {0, 0, -1, 0, -1, 0, -1, 0, 0} ) );
    std::cout << "M:\n" << M << std::endl;
  }
  {
    vpHomogeneousMatrix M { 0,  0, -1, 0.1,
                            0, -1,  0, 0.2,
                           -1,  0,  0, 0.3 };
    std::cout << "M:\n" << M << std::endl;
  }
#endif
}
  \endcode

*/
class VISP_EXPORT vpHomogeneousMatrix : public vpArray2D<double>
{
public:
  vpHomogeneousMatrix();
  vpHomogeneousMatrix(const vpHomogeneousMatrix &M);
  vpHomogeneousMatrix(const vpTranslationVector &t, const vpRotationMatrix &R);
  vpHomogeneousMatrix(const vpTranslationVector &t, const vpThetaUVector &tu);
  vpHomogeneousMatrix(const vpTranslationVector &t, const vpQuaternionVector &q);
  explicit vpHomogeneousMatrix(const vpPoseVector &p);
  explicit vpHomogeneousMatrix(const std::vector<float> &v);
  explicit vpHomogeneousMatrix(const std::vector<double> &v);
  vpHomogeneousMatrix(double tx, double ty, double tz, double tux, double tuy, double tuz);
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpHomogeneousMatrix(const std::initializer_list<double> &list);
#endif
  /*!
    Destructor.
  */
  virtual ~vpHomogeneousMatrix(){}

  void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R);
  void buildFrom(const vpTranslationVector &t, const vpThetaUVector &tu);
  void buildFrom(const vpTranslationVector &t, const vpQuaternionVector &q);
  void buildFrom(const vpPoseVector &p);
  void buildFrom(const std::vector<float> &v);
  void buildFrom(const std::vector<double> &v);
  void buildFrom(double tx, double ty, double tz, double tux, double tuy, double tuz);

  void convert(std::vector<float> &M);
  void convert(std::vector<double> &M);

  // Set to identity
  void eye();

  vpColVector getCol(unsigned int j) const;
  vpRotationMatrix getRotationMatrix() const;
  vpThetaUVector getThetaUVector() const;
  vpTranslationVector getTranslationVector() const;

  // Invert the homogeneous matrix.
  vpHomogeneousMatrix inverse() const;
  // Invert the homogeneous matrix.
  void inverse(vpHomogeneousMatrix &Mi) const;

  // Test if the rotational part of the matrix is a rotation matrix.
  bool isAnHomogeneousMatrix(double threshold=1e-6) const;

  void insert(const vpRotationMatrix &R);
  void insert(const vpThetaUVector &tu);
  void insert(const vpTranslationVector &t);
  void insert(const vpQuaternionVector &t);

  void extract(vpRotationMatrix &R) const;
  void extract(vpThetaUVector &tu) const;
  void extract(vpTranslationVector &t) const;
  void extract(vpQuaternionVector &q) const;

  // Load an homogeneous matrix from a file
  void load(std::ifstream &f);
  // Save an homogeneous matrix in a file
  void save(std::ofstream &f) const;

  vpHomogeneousMatrix &operator=(const vpHomogeneousMatrix &M);
  vpHomogeneousMatrix operator*(const vpHomogeneousMatrix &M) const;
  vpHomogeneousMatrix &operator*=(const vpHomogeneousMatrix &M);

  vpColVector operator*(const vpColVector &v) const;
  vpTranslationVector operator*(const vpTranslationVector &t) const;

  // Multiply by a point
  vpPoint operator*(const vpPoint &bP) const;

  vpHomogeneousMatrix& operator<<(double val);
  vpHomogeneousMatrix& operator,(double val);

  void print() const;

  /*!
    This function is not applicable to an homogeneous matrix that is always a
    4-by-4 matrix.
    \exception vpException::fatalError When this function is called.
    */
  void resize(unsigned int nrows, unsigned int ncols, bool flagNullify = true)
  {
    (void)nrows;
    (void)ncols;
    (void)flagNullify;
    throw(vpException(vpException::fatalError, "Cannot resize an homogeneous matrix"));
  }

  static vpHomogeneousMatrix mean(const std::vector<vpHomogeneousMatrix> &vec_M);

#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
  /*!
    @name Deprecated functions
  */
  //@{
  /*!
     \deprecated Provided only for compat with previous releases.
     This function does nothing.
   */
  vp_deprecated void init(){}
  /*!
     \deprecated You should rather use eye().
   */
  vp_deprecated void setIdentity();
//@}
#endif

protected:
  unsigned int m_index;
};

#endif
