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#define BOOST_TEST_MAIN

#define BOOST_TEST_MODULE Frame

#include <boost/test/unit_test.hpp>

#include <boost/test/floating_point_comparison.hpp>



#include "Frame.h"

#include "../geometry/Constants.h"



using namespace Vamos_Body;

using namespace Vamos_Geometry;



struct Default_Frame_Fixture

{

  Frame frame;

};



struct Position_Frame_Fixture

{

  Position_Frame_Fixture () : frame (Three_Vector (1.0, 2.0, -3.0)) {};

  Frame frame;

};



const Three_Vector null_vector (0.0, 0.0, 0.0);

const Three_Vector ones (1.0, 1.0, 1.0);

const Three_Matrix identity;



// Rotate the identity 120 degrees about [1,1,1].  This moves z to x,

// x to y and y to z.

const Three_Matrix rotated (Three_Matrix ().

                            rotate (ones.unit () * 2.0 * pi / 3.0));



struct Orientation_Frame_Fixture

{

  Orientation_Frame_Fixture () : frame (null_vector, rotated) {};

  Frame frame;

};



struct Position_and_Orientation_Frame_Fixture

{

  Position_and_Orientation_Frame_Fixture () 

    : frame (Three_Vector (1.0, 2.0, -3.0), rotated)

  {}

  Frame frame;

};



BOOST_AUTO_TEST_CASE (defaults)

{

  Default_Frame_Fixture f;

  BOOST_CHECK_EQUAL (f.frame.position (), null_vector);

  BOOST_CHECK_EQUAL (f.frame.velocity (), null_vector);

  BOOST_CHECK_EQUAL (f.frame.orientation (), identity);

  BOOST_CHECK_EQUAL (f.frame.angular_velocity (), null_vector);

}



BOOST_AUTO_TEST_CASE (initial_position)

{

  Position_Frame_Fixture f;

  BOOST_CHECK_EQUAL (f.frame.position (), Three_Vector (1.0, 2.0, -3.0));

  BOOST_CHECK_EQUAL (f.frame.velocity (), null_vector);

  BOOST_CHECK_EQUAL (f.frame.orientation (), identity);

  BOOST_CHECK_EQUAL (f.frame.angular_velocity (), null_vector);

}



BOOST_AUTO_TEST_CASE (initial_position_and_orientation)

{

  Position_and_Orientation_Frame_Fixture f;

  BOOST_CHECK_EQUAL (f.frame.position (), Three_Vector (1.0, 2.0, -3.0));

  BOOST_CHECK_EQUAL (f.frame.velocity (), null_vector);

  BOOST_CHECK_EQUAL (f.frame.orientation (), rotated);

  BOOST_CHECK_EQUAL (f.frame.angular_velocity (), null_vector);

}



BOOST_AUTO_TEST_CASE (translate)

{

  Position_Frame_Fixture f;

  f.frame.translate (Three_Vector (-1.0, 0.0, 1.0));

  BOOST_CHECK_EQUAL (f.frame.position (), Three_Vector (0.0, 2.0, -2.0));

  BOOST_CHECK_EQUAL (f.frame.velocity (), null_vector);

  BOOST_CHECK_EQUAL (f.frame.orientation (), identity);

  BOOST_CHECK_EQUAL (f.frame.angular_velocity (), null_vector);

}



BOOST_AUTO_TEST_CASE (set_position)

{

  Position_Frame_Fixture f;

  f.frame.set_position (Three_Vector (-1.0, 0.0, 1.0));

  BOOST_CHECK_EQUAL (f.frame.position (), Three_Vector (-1.0, 0.0, 1.0));

  BOOST_CHECK_EQUAL (f.frame.velocity (), null_vector);

  BOOST_CHECK_EQUAL (f.frame.orientation (), identity);

  BOOST_CHECK_EQUAL (f.frame.angular_velocity (), null_vector);

}



BOOST_AUTO_TEST_CASE (rotate)

{

  Orientation_Frame_Fixture f;

  f.frame.rotate (-ones.unit () * 2.0 * pi / 3.0);

  BOOST_CHECK_EQUAL (f.frame.position (), null_vector);

  BOOST_CHECK_EQUAL (f.frame.velocity (), null_vector);

  BOOST_CHECK_EQUAL (f.frame.angular_velocity (), null_vector);



  Three_Matrix o = f.frame.orientation ();

  for (size_t i = 0; i < 3; i++)

    {

      for (size_t j = 0; j < 3; j++)

        {

          if (i == j)

            BOOST_CHECK_CLOSE (o [i][j], 1.0, 1e-4);

          else

            BOOST_CHECK_SMALL (o [i][j], 1e-4);

        }

    }

}



BOOST_AUTO_TEST_CASE (transform_into_default)

{

  Default_Frame_Fixture f;

  BOOST_CHECK_EQUAL (f.frame.transform_from_world (ones), ones);

}



BOOST_AUTO_TEST_CASE (transform_into_position)

{

  Position_Frame_Fixture f;

  BOOST_CHECK_EQUAL (f.frame.transform_from_world (ones), 

                     Three_Vector (0.0, -1.0, 4.0));

}



BOOST_AUTO_TEST_CASE (transform_into_position_and_orientation)

{

  Position_and_Orientation_Frame_Fixture f;

  Three_Vector in = f.frame.transform_from_world (ones);

  BOOST_CHECK_CLOSE (in.x, -1.0, 1e-4);

  BOOST_CHECK_CLOSE (in.y, 4.0, 1e-4);

  BOOST_CHECK_SMALL (in.z, 1e-4);

}



BOOST_AUTO_TEST_CASE (transform_to_world_default)

{

  Default_Frame_Fixture f;

  BOOST_CHECK_EQUAL (f.frame.transform_to_world (ones), ones);

}



BOOST_AUTO_TEST_CASE (transform_to_world_position)

{

  Position_Frame_Fixture f;

  BOOST_CHECK_EQUAL (f.frame.transform_to_world (ones), 

                     Three_Vector (2.0, 3.0, -2.0));

}



BOOST_AUTO_TEST_CASE (transform_to_world_orientation)

{

  Orientation_Frame_Fixture f;

  Three_Vector out = f.frame.transform_to_world (Three_Vector (1.0, 0.0, 0.0));

  BOOST_CHECK_SMALL (out.x, 1e-4);

  BOOST_CHECK_CLOSE (out.y, 1.0, 1e-4);

  BOOST_CHECK_SMALL (out.z, 1e-4);

}



BOOST_AUTO_TEST_CASE (transform_to_world_position_and_orientation)

{

  Position_and_Orientation_Frame_Fixture f;

  Three_Vector out = f.frame.transform_to_world (Three_Vector (1.0, 0.0, 0.0));

  BOOST_CHECK_CLOSE (out.x, 1.0, 1e-4);

  BOOST_CHECK_CLOSE (out.y, 3.0, 1e-4);

  BOOST_CHECK_CLOSE (out.z, -3.0, 1e-4);

}



BOOST_AUTO_TEST_CASE (rotate_out_position_and_orientation)

{

  Position_and_Orientation_Frame_Fixture f;

  Three_Vector out = f.frame.rotate_to_parent (Three_Vector (1.0, 0.0, 0.0));

  BOOST_CHECK_SMALL (out.x, 1e-4);

  BOOST_CHECK_CLOSE (out.y, 1.0, 1e-4); // x' is y

  BOOST_CHECK_SMALL (out.z, 1e-4);

}



BOOST_AUTO_TEST_CASE (copy_rotate_out_position_and_orientation)

{

  Position_and_Orientation_Frame_Fixture f;

  Frame g (f.frame);

  Three_Vector out = g.rotate_to_parent (Three_Vector (1.0, 0.0, 0.0));

  BOOST_CHECK_SMALL (out.x, 1e-4);

  BOOST_CHECK_CLOSE (out.y, 1.0, 1e-4); // x' is y

  BOOST_CHECK_SMALL (out.z, 1e-4);

}



BOOST_AUTO_TEST_CASE (rotate_in_position_and_orientation)

{

  Position_and_Orientation_Frame_Fixture f;

  Three_Vector out = f.frame.rotate_from_parent (Three_Vector (1.0, 0.0, 0.0));

  BOOST_CHECK_SMALL (out.x, 1e-4);

  BOOST_CHECK_SMALL (out.y, 1e-4);

  BOOST_CHECK_CLOSE (out.z, 1.0, 1e-4); // x is z'

}



struct Nested_Frame_Fixture

{

  Nested_Frame_Fixture ()

    : parent (Three_Vector (1.0, 2.0, 3.0)),

      frame (Three_Vector (2.0, 3.0, 4.0), &parent)

  {}  

  Frame parent;

  Frame frame;

};



BOOST_AUTO_TEST_CASE (transform_to_parent)

{

  Nested_Frame_Fixture f;

  BOOST_CHECK_EQUAL (f.frame.transform_to_parent (Three_Vector (3.0, 4.0, 5.0)), 

                     Three_Vector (5.0, 7.0, 9.0));

}



BOOST_AUTO_TEST_CASE (transform_to_world)

{

  Nested_Frame_Fixture f;

  BOOST_CHECK_EQUAL (f.frame.transform_to_world (Three_Vector (3.0, 4.0, 5.0)), 

                     Three_Vector (6.0, 9.0, 12.0));

}



BOOST_AUTO_TEST_CASE (transform_from_parent)

{

  Nested_Frame_Fixture f;

  BOOST_CHECK_EQUAL (f.frame.transform_from_parent (Three_Vector (3.0, 4.0, 5.0)), 

                     Three_Vector (1.0, 1.0, 1.0));

}



BOOST_AUTO_TEST_CASE (transform_from_world)

{

  Nested_Frame_Fixture f;

  BOOST_CHECK_EQUAL (f.frame.transform_from_world (Three_Vector (3.0, 4.0, 5.0)), 

                     Three_Vector (0.0, -1.0, -2.0));

}