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#include <Eigen/Core>
#include <Eigen/Geometry>
#include <geometric_shapes/check_isometry.h>
#include <gtest/gtest.h>

TEST(Utils, checkIsometry)
{
  Eigen::Isometry3d t(Eigen::AngleAxisd(0.42, Eigen::Vector3d(1, 1, 1).normalized()));
  ASSERT_TRUE(::checkIsometry(t));

  const Eigen::Vector3d oldDiagonal = t.linear().diagonal();
  t.linear() = t.linear() * Eigen::DiagonalMatrix<double, 3, 3>(1.0, 2.0, 3.0);
  ASSERT_FALSE(::checkIsometry(t));

  t.matrix().row(3) = Eigen::Vector4d(1e-6, 1e-6, 1e-6, 1 - 1e-6);
  ASSERT_FALSE(::checkIsometry(t, CHECK_ISOMETRY_PRECISION));

  t.linear().diagonal() = oldDiagonal;
  ASSERT_TRUE(::checkIsometry(t, 1e-0, false));
  ASSERT_FALSE(::checkIsometry(t, 1e-1));
  ASSERT_FALSE(::checkIsometry(t, 1e-2, false));

  std::cerr.flush();
}

TEST(Utils, assertIsometry)
{
  Eigen::Isometry3d t(Eigen::AngleAxisd(0.42, Eigen::Vector3d(1, 1, 1).normalized()));
  ASSERT_ISOMETRY(t);

  t.linear() = t.linear() * Eigen::DiagonalMatrix<double, 3, 3>(1.0, 2.0, 3.0);
#ifdef NDEBUG
  ASSERT_ISOMETRY(t)  // noop in release mode
#else
  ASSERT_DEATH(ASSERT_ISOMETRY(t), "Invalid isometry transform");
#endif

  t.matrix().row(3) = Eigen::Vector4d(1e-6, 1e-6, 1e-6, 1 - 1e-6);
#ifdef NDEBUG
  ASSERT_ISOMETRY(t)  // noop in release mode
#else
  ASSERT_DEATH(ASSERT_ISOMETRY(t), "Invalid isometry transform");
#endif

  std::cerr.flush();
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}
