/* +------------------------------------------------------------------------+
   |                     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          |
   +------------------------------------------------------------------------+ */

#include "nav-precomp.h"  // Precomp header
//
#include <mrpt/nav/tpspace/CPTG_DiffDrive_CS.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/os.h>

using namespace mrpt;
using namespace mrpt::nav;
using namespace std;
using namespace mrpt::system;

IMPLEMENTS_SERIALIZABLE(
	CPTG_DiffDrive_CS, CParameterizedTrajectoryGenerator, mrpt::nav)

void CPTG_DiffDrive_CS::loadFromConfigFile(
	const mrpt::config::CConfigFileBase& cfg, const std::string& sSection)
{
	CPTG_DiffDrive_CollisionGridBased::loadFromConfigFile(cfg, sSection);

	MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(K, double, cfg, sSection);

	// The constant curvature turning radius used in this PTG:
	R = V_MAX / W_MAX;
}
void CPTG_DiffDrive_CS::saveToConfigFile(
	mrpt::config::CConfigFileBase& cfg, const std::string& sSection) const
{
	MRPT_START
	const int WN = 25, WV = 30;
	CPTG_DiffDrive_CollisionGridBased::saveToConfigFile(cfg, sSection);

	cfg.write(
		sSection, "K", K, WN, WV,
		"K=+1 forward paths; K=-1 for backwards paths.");

	MRPT_END
}

void CPTG_DiffDrive_CS::serializeFrom(
	mrpt::serialization::CArchive& in, uint8_t version)
{
	CPTG_DiffDrive_CollisionGridBased::internal_readFromStream(in);

	switch (version)
	{
		case 0: in >> K; break;
		default: MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
	};
}

uint8_t CPTG_DiffDrive_CS::serializeGetVersion() const { return 0; }
void CPTG_DiffDrive_CS::serializeTo(mrpt::serialization::CArchive& out) const
{
	CPTG_DiffDrive_CollisionGridBased::internal_writeToStream(out);
	out << K;
}
std::string CPTG_DiffDrive_CS::getDescription() const
{
	char str[100];
	os::sprintf(str, 100, "CPTG_DiffDrive_CS,K=%i", (int)K);
	return std::string(str);
}

void CPTG_DiffDrive_CS::ptgDiffDriveSteeringFunction(
	float alpha, float t, [[maybe_unused]] float x, [[maybe_unused]] float y,
	[[maybe_unused]] float phi, float& v, float& w) const
{
	const float T = 0.847f * std::sqrt(std::abs(alpha)) * R / V_MAX;

	if (t < T)
	{
		// l+
		v = V_MAX;
		w = W_MAX * min(1.0f, 1.0f - (float)exp(-square(alpha)));
	}
	else
	{
		// s+:
		v = V_MAX;
		w = 0;
	}

	// Turn in the opposite direction??
	if (alpha < 0) w *= -1;

	v *= K;
	w *= K;
}

bool CPTG_DiffDrive_CS::PTG_IsIntoDomain(double x, double y) const
{
	// If signs of K and X are different, it is not into the domain:
	if ((K * x) < 0) return false;

	if (fabs(y) >= R)
	{
		// Segmento de arriba:
		return (fabs(x) > R - 0.10f);
	}
	else
	{
		// The circle at (0,R):
		return (square(x) + square(fabs(y) - (R + 0.10f))) > square(R);
	}
}

void CPTG_DiffDrive_CS::loadDefaultParams()
{
	CPTG_DiffDrive_CollisionGridBased::loadDefaultParams();
	K = +1.0;
}
