/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2023, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

/**
 * Execute a least squares approximation of the given x,y data.
 */

#include <mrpt/gui/CDisplayWindowPlots.h>
#include <mrpt/math/utils.h>  // normalize()

#include <iostream>
#include <mrpt/math/interp_fit.hpp>

using namespace mrpt::math;
using namespace mrpt::gui;
using namespace std;

// ------------------------------------------------------
//				TestLeastSquares
// ------------------------------------------------------
void TestLeastSquares()
{
	CVectorDouble x, y;
	normalize(x, y);

	/**
	 * for convenience, first initialize the data as C arrays and then define
	 * std;:vectors from
	 * that data
	 *
	 * loadVector
	 * Assignment operator for initializing a std::vector from a C array
	 * refer to
	 * https://reference.mrpt.org/stable/group__container__ops__grp.html#ga40e8e47dea9f504a28d2a70ea8ddb158
	 */
	const double X[] = {1, 2, 3, 4};
	const double Y[] = {6, 5, 7, 10};
	loadVector(x, X);
	loadVector(y, Y);

	// x points for plotting the least squres line against.
	CVectorDouble Ts;
	linspace(-3.0, 8.0, 100, Ts);
	CVectorDouble Is;

	/**
	 * Least squares line approximation, based on the provided x,y vectors.
	 */
	mrpt::math::leastSquareLinearFit(Ts, Is, x, y);

	CDisplayWindowPlots win("Result of linear least squares");

	win.plot(Ts, Is);
	win.axis_fit();
	win.axis_equal();

	win.plot(x, y, ".3r", "training_points");

	win.waitForKey();
}

int main(int argc, char** argv)
{
	try
	{
		TestLeastSquares();

		return 0;
	}
	catch (const std::exception& e)
	{
		std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
		return -1;
	}
	catch (...)
	{
		printf("Another exception!!");
		return -1;
	}
}
