/*//////////////////////////////////////////////////////////////////////////////
// CMT Cosmic Muon Tomography project //////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////

  Copyright (c) 2014, Universita' degli Studi di Padova, INFN sez. di Padova
  All rights reserved

  Authors: Andrea Rigoni Garola < andrea.rigoni@pd.infn.it >

  ------------------------------------------------------------------
  This library is free software;  you  can  redistribute  it  and/or
  modify it  under the  terms  of  the  GNU  Lesser  General  Public
  License as published  by  the  Free  Software  Foundation;  either
  version 3.0 of the License, or (at your option) any later version.

  This library is  distributed in  the hope that it will  be useful,
  but  WITHOUT ANY WARRANTY;  without  even  the implied warranty of
  MERCHANTABILITY  or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of  the GNU Lesser General  Public
  License along with this library.

//////////////////////////////////////////////////////////////////////////////*/




/*
 * <one line to give the program's name and a brief idea of what it does.>
 * Copyright (C) 2012  Andrea Rigoni Garola <andrea@pcimg05>
 *
 * This library is free software; you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as
 * published by the Free Software Foundation; either version 2.1 of the
 * License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
 * 02110-1301 USA
 *
 */


#ifndef ULIB_DENSEMATRIX_H
#define ULIB_DENSEMATRIX_H

#include <stdlib.h>

#include <Eigen/Dense>


//// BOOST SERIALIZATION ///////////////////////////////////////////////////////

#include <boost/algorithm/string.hpp>
#include <boost/algorithm/string/split.hpp>
#include <boost/algorithm/string/trim.hpp>
#include <boost/lexical_cast.hpp>
#include <boost/serialization/string.hpp>
#include <boost/serialization/array.hpp>


namespace boost {
namespace serialization {

template<class Archive, class Scalar, int RowsAtCompileTime, int ColsAtCompileTime>
void serialize(Archive & ar, ::Eigen::Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime> & m, const unsigned int /*version*/) {
    ar & boost::serialization::make_array(m.data(), RowsAtCompileTime * ColsAtCompileTime);
}

} //  serialization
} //  boost

////////////////////////////////////////////////////////////////////////////////

////////////////////////////////////////////////////////////////////////////////
// EIGEN VECTOR STREAM INTERACTIONS ////////////////////////////////////////////
// this is needed by boost::lexical_cast to cope with Eigens Vectors ///////////
namespace Eigen {
template <typename T, int size>
std::istream & operator >> (std::istream &is, Eigen::Matrix<T,size,1> &vec) {
    std::string str;
    for( unsigned int i=0; i<size; i++) {
        is >> std::skipws;
        is >> str;
        if(is.fail()) vec(i) = 0;
        else vec(i) = boost::lexical_cast<T>(str);
    }
    return is;
}
template <typename T, int size>
std::ostream & operator << (std::ostream &os, const Eigen::Matrix<T,size,1> &vec) {
    os << vec.transpose();
    return os;
}
} // Eigen
////////////////////////////////////////////////////////////////////////////////



namespace uLib {

typedef id_t          Id_t;

typedef int           Scalari;
typedef unsigned int  Scalarui;
typedef long          Scalarl;
typedef unsigned long Scalarul;
typedef float         Scalarf;
typedef double        Scalard;



typedef Eigen::Matrix<int,1,1> Matrix1i;
typedef Eigen::Matrix2i Matrix2i;
typedef Eigen::Matrix3i Matrix3i;
typedef Eigen::Matrix4i Matrix4i;

typedef Eigen::Matrix<float,1,1> Matrix1f;
typedef Eigen::Matrix2f Matrix2f;
typedef Eigen::Matrix3f Matrix3f;
typedef Eigen::Matrix4f Matrix4f;

typedef Eigen::Matrix<int,1,1> Vector1i;
typedef Eigen::Vector2i Vector2i;
typedef Eigen::Vector3i Vector3i;
typedef Eigen::Vector4i Vector4i;

typedef Eigen::Matrix<float,1,1> Vector1f;
typedef Eigen::Vector2f Vector2f;
typedef Eigen::Vector3f Vector3f;
typedef Eigen::Vector4f Vector4f;




////////////////////////////////////////////////////////////////////////////////
// Vector String interaction ///////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////

/*! Given a string consisting of a series of doubles with some
*  delimiter, return an Eigen::Vector populated with those
*  values, in the same order as they are given in the string.
*
*  \param vec A double vector to be populated with the results
*  \param str A string to be parsed as a series of doubles.
*  \param delim Delimiters of the text (a typical default is " ," for comma and space-delimited text
*
*/
template <typename T, int size>
void VectorxT_StringTo(Eigen::Matrix<T,size,1> &vec, std::string str, const char *delim = " ,;\t\n") {
    std::vector<std::string> strvec;

    boost::algorithm::trim_if( str, boost::algorithm::is_any_of(delim));
    boost::algorithm::split(strvec,str,boost::algorithm::is_any_of(delim), boost::algorithm::token_compress_on);

    for( unsigned int i=0; i<size; i++) {
        vec(i) = boost::lexical_cast<T>(strvec[i]);
    }
}

template <typename T, int size>
std::string VectorxT_ToString(const Eigen::Matrix<T,size,1> &vec) {
    std::stringstream sst;
    sst << vec.transpose();
    return sst.str();
}


//template <typename T, int size>
//Eigen::Matrix<T,size,1> & operator >> (std::istream &is, Eigen::Matrix<T,size,1> &vec) {
//}

template <typename T, int size>
void operator>> (std::string& str, Eigen::Matrix<T,size,1> &vec){
    VectorxT_StringTo(vec,str);
}


////////////////////////////////////////////////////////////////////////////////
//////   HOMOGENEOUS VECTORS  //////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////

template <bool p>
class _HPoint3f : public Eigen::Matrix< Scalarf,4,1 > {
public:
    typedef Eigen::Matrix< Scalarf,4,1 > BaseClass;

    _HPoint3f<p>() : BaseClass(0,0,0,p) {}
    _HPoint3f<p>(float x,float y,float z) : BaseClass(x,y,z,p) {}
    _HPoint3f<p>(Vector3f &in) : BaseClass(in.homogeneous()) { this->operator()(3) = p; }

    void operator delete(void* _p, size_t _s) {}

    // This constructor allows to construct MyVectorType from Eigen expressions
    template<typename OtherDerived>
    inline _HPoint3f<p>(const Eigen::MatrixBase<OtherDerived>& other)
        : BaseClass(other)
    { }

    // This method allows to assign Eigen expressions to Vector3H
    template<typename OtherDerived>
    inline _HPoint3f<p> & operator= (const Eigen::MatrixBase <OtherDerived>& other)
    {
        this->BaseClass::operator=(other);
        return *this;
    }

};
typedef _HPoint3f<false> HVector3f;
typedef _HPoint3f<true> HPoint3f;




////////////////////////////////////////////////////////////////////////////////
//////   HOMOGENEOUS LINE     //////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////


struct _HLine3f
{
    HPoint3f origin;
    HVector3f direction;
};
typedef struct _HLine3f HLine3f;

inline std::ostream&
operator<< (std::ostream& stream, const HLine3f &line) {
    stream << "HLine3f(" << "pt[" << line.origin.transpose() <<"] , dr[" << line.direction.transpose() << "]) ";
    return stream;
}




struct _HError3f
{
    HVector3f position_error;
    HVector3f direction_error;
};
typedef struct _HError3f HError3f;

inline std::ostream&
operator<< (std::ostream& stream, const HError3f &err) {
    stream << "HError3f(" << "ept[" << err.position_error.transpose() <<"] , edr[" << err.direction_error.transpose() << "]) ";
    return stream;
}


}


////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
// SERIALIZTION //

#ifdef ULIB_SERIALIZATION_ON
#include "Core/Serializable.h"

ULIB_SERIALIZABLE(uLib::HPoint3f)

ULIB_SERIALIZABLE(uLib::HVector3f)


ULIB_SERIALIZABLE(uLib::HLine3f)

ULIB_SERIALIZABLE(uLib::HError3f)
#endif // ULIB_SERIALIZATION_ON




#endif  // U_DENSEMATRIX_H