#include <UnitTest++.h>

#include <iostream>

#include "rbdl/Logging.h"

#include "rbdl/Model.h"
#include "rbdl/Kinematics.h"

#include "Fixtures.h"

using namespace std;
using namespace RigidBodyDynamics;
using namespace RigidBodyDynamics::Math;

const double TEST_PREC = 1.0e-14;

TEST_FIXTURE(FixedBase3DoF, TestCalcPointSimple) {
  QDDot[0] = 1.;
  ref_body_id = body_a_id;
  point_position = Vector3d (1., 0., 0.);
  point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);

  // cout << LogOutput.str() << endl;

  CHECK_CLOSE(0., point_acceleration[0], TEST_PREC);
  CHECK_CLOSE(1., point_acceleration[1], TEST_PREC);
  CHECK_CLOSE(0., point_acceleration[2], TEST_PREC);

  // LOG << "Point accel = " << point_acceleration << endl;
}

TEST_FIXTURE(FixedBase3DoF, TestCalcPointSimpleRotated) {
  Q[0] = 0.5 * M_PI;

  ref_body_id = body_a_id;
  QDDot[0] = 1.;
  point_position = Vector3d (1., 0., 0.);
  point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);

  //	cout << LogOutput.str() << endl;

  CHECK_CLOSE(-1., point_acceleration[0], TEST_PREC);
  CHECK_CLOSE( 0., point_acceleration[1], TEST_PREC);
  CHECK_CLOSE( 0., point_acceleration[2], TEST_PREC);

  // LOG << "Point accel = " << point_acceleration << endl;
}

TEST_FIXTURE(FixedBase3DoF, TestCalcPointRotation) {
  ref_body_id = 1;
  QDot[0] = 1.;
  point_position = Vector3d (1., 0., 0.);
  point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);

  //	cout << LogOutput.str() << endl;

  CHECK_CLOSE(-1., point_acceleration[0], TEST_PREC);
  CHECK_CLOSE( 0., point_acceleration[1], TEST_PREC);
  CHECK_CLOSE( 0., point_acceleration[2], TEST_PREC);

  ClearLogOutput();

  // if we are on the other side we should have the opposite value
  point_position = Vector3d (-1., 0., 0.);
  point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);

  //	cout << LogOutput.str() << endl;

  CHECK_CLOSE( 1., point_acceleration[0], TEST_PREC);
  CHECK_CLOSE( 0., point_acceleration[1], TEST_PREC);
  CHECK_CLOSE( 0., point_acceleration[2], TEST_PREC);
}

TEST_FIXTURE(FixedBase3DoF, TestCalcPointRotatedBaseSimple) {
  // rotated first joint

  ref_body_id = 1;
  Q[0] = M_PI * 0.5;
  QDot[0] = 1.;
  point_position = Vector3d (1., 0., 0.);
  point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);

  CHECK_CLOSE( 0., point_acceleration[0], TEST_PREC);
  CHECK_CLOSE(-1., point_acceleration[1], TEST_PREC);
  CHECK_CLOSE( 0., point_acceleration[2], TEST_PREC);

  point_position = Vector3d (-1., 0., 0.);
  point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);

  CHECK_CLOSE( 0., point_acceleration[0], TEST_PREC);
  CHECK_CLOSE( 1., point_acceleration[1], TEST_PREC);
  CHECK_CLOSE( 0., point_acceleration[2], TEST_PREC);
  //	cout << LogOutput.str() << endl;
}

TEST_FIXTURE(FixedBase3DoF, TestCalcPointRotatingBodyB) {
  // rotating second joint, point at third body

  ref_body_id = 3;
  QDot[1] = 1.;
  point_position = Vector3d (1., 0., 0.); 
  point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);

  // cout << LogOutput.str() << endl;

  CHECK_CLOSE( -1., point_acceleration[0], TEST_PREC);
  CHECK_CLOSE(  0., point_acceleration[1], TEST_PREC);
  CHECK_CLOSE(  0., point_acceleration[2], TEST_PREC);

  // move it a bit further up (acceleration should stay the same)
  point_position = Vector3d (1., 1., 0.); 
  point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);

  // cout << LogOutput.str() << endl;

  CHECK_CLOSE( -1., point_acceleration[0], TEST_PREC);
  CHECK_CLOSE(  0., point_acceleration[1], TEST_PREC);
  CHECK_CLOSE(  0., point_acceleration[2], TEST_PREC);
}

TEST_FIXTURE(FixedBase3DoF, TestCalcPointBodyOrigin) {
  // rotating second joint, point at third body

  QDot[0] = 1.;

  ref_body_id = body_b_id;
  point_position = Vector3d (0., 0., 0.); 
  point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, ref_body_id, point_position);

  // cout << LogOutput.str() << endl;

  CHECK_CLOSE( -1., point_acceleration[0], TEST_PREC);
  CHECK_CLOSE(  0., point_acceleration[1], TEST_PREC);
  CHECK_CLOSE(  0., point_acceleration[2], TEST_PREC);
}

TEST_FIXTURE(FixedBase3DoF, TestAccelerationLinearFuncOfQddot) {
  // rotating second joint, point at third body

  QDot[0] = 1.1;
  QDot[1] = 1.3;
  QDot[2] = 1.5;

  ref_body_id = body_c_id;
  point_position = Vector3d (1., 1., 1.); 

  VectorNd qddot_1 = VectorNd::Zero (model->dof_count);
  VectorNd qddot_2 = VectorNd::Zero (model->dof_count);
  VectorNd qddot_0 = VectorNd::Zero (model->dof_count);

  qddot_1[0] = 0.1;
  qddot_1[1] = 0.2;
  qddot_1[2] = 0.3;

  qddot_2[0] = 0.32;
  qddot_2[1] = -0.1;
  qddot_2[2] = 0.53;

  Vector3d acc_1 = CalcPointAcceleration(*model, Q, QDot, qddot_1, ref_body_id, point_position);
  Vector3d acc_2 = CalcPointAcceleration(*model, Q, QDot, qddot_2, ref_body_id, point_position);

  MatrixNd G = MatrixNd::Zero (3, model->dof_count);
  CalcPointJacobian (*model, Q, ref_body_id, point_position, G, true);

  VectorNd net_acc = G * (qddot_1 - qddot_2);

  Vector3d acc_new = acc_1 - acc_2;

  CHECK_ARRAY_CLOSE (net_acc.data(), acc_new.data(), 3, TEST_PREC);
}

TEST_FIXTURE (FloatingBase12DoF, TestAccelerationFloatingBaseWithUpdateKinematics ) {
  ForwardDynamics (*model, Q, QDot, Tau, QDDot);

  ClearLogOutput();
  Vector3d accel = CalcPointAcceleration (*model, Q, QDot, QDDot, child_2_rot_x_id, Vector3d (0., 0., 0.), true);

  CHECK_ARRAY_CLOSE (Vector3d (0., -9.81, 0.), accel.data(), 3, TEST_PREC);
}

TEST_FIXTURE (FloatingBase12DoF, TestAccelerationFloatingBaseWithoutUpdateKinematics ) {
  ForwardDynamics (*model, Q, QDot, Tau, QDDot);

  //ClearLogOutput();
  Vector3d accel = CalcPointAcceleration (*model, Q, QDot, QDDot, child_2_rot_x_id, Vector3d (0., 0., 0.), false);

  CHECK_ARRAY_CLOSE (Vector3d (0., 0., 0.), accel.data(), 3, TEST_PREC);
  //	cout << LogOutput.str() << endl;
  //	cout << accel.transpose() << endl;
}

TEST_FIXTURE(FixedBase3DoF, TestCalcPointRotationFixedJoint) {
  Body fixed_body(1., Vector3d (1., 0.4, 0.4), Vector3d (1., 1., 1.));
  unsigned int fixed_body_id = model->AddBody (body_c_id, Xtrans (Vector3d (1., -1., 0.)), Joint(JointTypeFixed), fixed_body, "fixed_body");

  QDot[0] = 1.;
  point_position = Vector3d (0., 0., 0.);
  Vector3d point_acceleration_reference = CalcPointAcceleration (*model, Q, QDot, QDDot, body_c_id, Vector3d (1., -1., 0.));

  ClearLogOutput();
  point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, fixed_body_id, point_position);
  //	cout << LogOutput.str() << endl;

  CHECK_ARRAY_CLOSE (point_acceleration_reference.data(),
      point_acceleration.data(),
      3, 
      TEST_PREC);
}

TEST_FIXTURE(FixedBase3DoF, TestCalcPointRotationFixedJointRotatedTransform) {
  Body fixed_body(1., Vector3d (1., 0.4, 0.4), Vector3d (1., 1., 1.));

  SpatialTransform fixed_transform = Xtrans (Vector3d (1., -1., 0.)) * Xrotz(M_PI * 0.5);
  unsigned int fixed_body_id = model->AddBody (body_c_id, fixed_transform, Joint(JointTypeFixed), fixed_body, "fixed_body");

  QDot[0] = 1.;
  point_position = Vector3d (0., 0., 0.);
  ClearLogOutput();
  Vector3d point_acceleration_reference = CalcPointAcceleration (*model, Q, QDot, QDDot, body_c_id, Vector3d (1., 1., 0.));
  // cout << LogOutput.str() << endl;

  // cout << "Point position = " << CalcBodyToBaseCoordinates (*model, Q, fixed_body_id, Vector3d (0., 0., 0.)).transpose() << endl;
  // cout << "Point position_ref = " << CalcBodyToBaseCoordinates (*model, Q, body_c_id, Vector3d (1., 1., 0.)).transpose() << endl;

  ClearLogOutput();
  point_acceleration = CalcPointAcceleration(*model, Q, QDot, QDDot, fixed_body_id, point_position);
  // cout << LogOutput.str() << endl;

  CHECK_ARRAY_CLOSE (point_acceleration_reference.data(),
      point_acceleration.data(),
      3, 
      TEST_PREC);
}