/*
    * Copyright (C) 2020 Alberto Irurueta Carro (alberto@irurueta.com)
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *         http://www.apache.org/licenses/LICENSE-2.0
    *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  package com.irurueta.navigation.inertial.calibration.accelerometer;
  
  import com.irurueta.navigation.LockedException;
  import com.irurueta.navigation.NotReadyException;
  import com.irurueta.navigation.inertial.calibration.CalibrationException;
  import com.irurueta.navigation.inertial.calibration.StandardDeviationFrameBodyKinematics;
  import com.irurueta.numerical.robust.PROSACRobustEstimator;
  import com.irurueta.numerical.robust.PROSACRobustEstimatorListener;
  import com.irurueta.numerical.robust.RobustEstimator;
  import com.irurueta.numerical.robust.RobustEstimatorException;
  import com.irurueta.numerical.robust.RobustEstimatorMethod;
  
  import java.util.List;
  
  /**
   * Robustly estimates accelerometer biases, cross couplings and scaling factors
   * using a PROSAC algorithm to discard outliers.
   * <p>
   * To use this calibrator at least 4 measurements at different known frames must
   * be provided. In other words, accelerometer samples must be obtained at 4
   * different positions, orientations and velocities (although typically velocities are
   * always zero).
   * <p>
   * Measured specific force is assumed to follow the model shown below:
   * <pre>
   *     fmeas = ba + (I + Ma) * ftrue + w
   * </pre>
   * Where:
   * - fmeas is the measured specific force. This is a 3x1 vector.
   * - ba is accelerometer bias. Ideally, on a perfect accelerometer, this should be a
   * 3x1 zero vector.
   * - I is the 3x3 identity matrix.
   * - Ma is the 3x3 matrix containing cross-couplings and scaling factors. Ideally, on
   * a perfect accelerometer, this should be a 3x3 zero matrix.
   * - ftrue is ground-truth specific force.
   * - w is measurement noise.
   */
  public class PROSACRobustKnownFrameAccelerometerCalibrator extends RobustKnownFrameAccelerometerCalibrator {
  
      /**
       * Constant defining default threshold to determine whether samples are inliers or not.
       */
      public static final double DEFAULT_THRESHOLD = 1e-2;
  
      /**
       * Minimum value that can be set as threshold.
       * Threshold must be strictly greater than 0.0.
       */
      public static final double MIN_THRESHOLD = 0.0;
  
      /**
       * Indicates that by default inliers will only be computed but not kept.
       */
      public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS = false;
  
      /**
       * Indicates that by default residuals will only be computed but not kept.
       */
      public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS = false;
  
      /**
       * Threshold to determine whether samples are inliers or not when testing possible solutions.
       * The threshold refers to the amount of error on distance between estimated position and
       * distances provided for each sample.
       */
      private double threshold = DEFAULT_THRESHOLD;
  
      /**
       * Indicates whether inliers must be computed and kept.
       */
      private boolean computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
  
      /**
       * Indicates whether residuals must be computed and kept.
       */
      private boolean computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
  
      /**
       * Quality scores corresponding to each provided sample.
       * The larger the score value the better the quality of the sample.
       */
      private double[] qualityScores;
  
      /**
      * Constructor.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator() {
     }
 
     /**
      * Constructor.
      *
      * @param listener listener to be notified of events such as when estimation
      *                 starts, ends or its progress significantly changes.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(
             final RobustKnownFrameAccelerometerCalibratorListener listener) {
         super(listener);
     }
 
     /**
      * Constructor.
      *
      * @param measurements list of body kinematics measurements with standard
      *                     deviations taken at different frames (positions, orientations
      *                     and velocities).
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements) {
         super(measurements);
     }
 
     /**
      * Constructor.
      *
      * @param measurements list of body kinematics measurements with standard
      *                     deviations taken at different frames (positions, orientations
      *                     and velocities).
      * @param listener     listener to handle events raised by this calibrator.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements,
             final RobustKnownFrameAccelerometerCalibratorListener listener) {
         super(measurements, listener);
     }
 
     /**
      * Constructor.
      *
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(final boolean commonAxisUsed) {
         super(commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(
             final boolean commonAxisUsed, final RobustKnownFrameAccelerometerCalibratorListener listener) {
         super(commonAxisUsed, listener);
     }
 
     /**
      * Constructor.
      *
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements, final boolean commonAxisUsed) {
         super(measurements, commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements, final boolean commonAxisUsed,
             final RobustKnownFrameAccelerometerCalibratorListener listener) {
         super(measurements, commonAxisUsed, listener);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores quality scores corresponding to each provided
      *                      measurement. The larger the score value the better
      *                      the quality of the sample.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 4 samples.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(final double[] qualityScores) {
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores quality scores corresponding to each provided
      *                      measurement. The larger the score value the better
      *                      the quality of the sample.
      * @param listener      listener to be notified of events such as when estimation
      *                      starts, ends or its progress significantly changes.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 4 samples.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(
             final double[] qualityScores, final RobustKnownFrameAccelerometerCalibratorListener listener) {
         super(listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores quality scores corresponding to each provided
      *                      measurement. The larger the score value the better
      *                      the quality of the sample.
      * @param measurements  list of body kinematics measurements with standard
      *                      deviations taken at different frames (positions, orientations
      *                      and velocities).
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 4 samples.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationFrameBodyKinematics> measurements) {
         super(measurements);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores quality scores corresponding to each provided
      *                      measurement. The larger the score value the better
      *                      the quality of the sample.
      * @param measurements  list of body kinematics measurements with standard
      *                      deviations taken at different frames (positions, orientations
      *                      and velocities).
      * @param listener      listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 4 samples.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationFrameBodyKinematics> measurements,
             final RobustKnownFrameAccelerometerCalibratorListener listener) {
         super(measurements, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores  quality scores corresponding to each provided
      *                       measurement. The larger the score value the better
      *                       the quality of the sample.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 4 samples.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(final double[] qualityScores, final boolean commonAxisUsed) {
         super(commonAxisUsed);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores  quality scores corresponding to each provided
      *                       measurement. The larger the score value the better
      *                       the quality of the sample.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 4 samples.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(
             final double[] qualityScores, final boolean commonAxisUsed,
             final RobustKnownFrameAccelerometerCalibratorListener listener) {
         super(commonAxisUsed, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores  quality scores corresponding to each provided
      *                       measurement. The larger the score value the better
      *                       the quality of the sample.
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 4 samples.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationFrameBodyKinematics> measurements,
             final boolean commonAxisUsed) {
         super(measurements, commonAxisUsed);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores  quality scores corresponding to each provided
      *                       measurement. The larger the score value the better
      *                       the quality of the sample.
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 4 samples.
      */
     public PROSACRobustKnownFrameAccelerometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationFrameBodyKinematics> measurements,
             final boolean commonAxisUsed, final RobustKnownFrameAccelerometerCalibratorListener listener) {
         super(measurements, commonAxisUsed, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
      * The threshold refers to the amount of error on norm between measured specific forces and the
      * ones generated with estimated calibration parameters provided for each sample.
      *
      * @return threshold to determine whether samples are inliers or not.
      */
     public double getThreshold() {
         return threshold;
     }
 
     /**
      * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
      * The threshold refers to the amount of error on norm between measured specific forces and the
      * ones generated with estimated calibration parameters provided for each sample.
      *
      * @param threshold threshold to determine whether samples are inliers or not.
      * @throws IllegalArgumentException if provided value is equal or less than zero.
      * @throws LockedException          if calibrator is currently running.
      */
     public void setThreshold(final double threshold) throws LockedException {
         if (running) {
             throw new LockedException();
         }
         if (threshold <= MIN_THRESHOLD) {
             throw new IllegalArgumentException();
         }
         this.threshold = threshold;
     }
 
     /**
      * Returns quality scores corresponding to each provided sample.
      * The larger the score value the better the quality of the sample.
      *
      * @return quality scores corresponding to each sample.
      */
     @Override
     public double[] getQualityScores() {
         return qualityScores;
     }
 
     /**
      * Sets quality scores corresponding to each provided sample.
      * The larger the score value the better the quality of the sample.
      *
      * @param qualityScores quality scores corresponding to each sample.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than minimum required samples.
      * @throws LockedException          if calibrator is currently running.
      */
     @Override
     public void setQualityScores(final double[] qualityScores) throws LockedException {
         if (running) {
             throw new LockedException();
         }
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Indicates whether calibrator is ready to find a solution.
      *
      * @return true if calibrator is ready, false otherwise.
      */
     @Override
     public boolean isReady() {
         return super.isReady() && qualityScores != null && qualityScores.length == measurements.size();
     }
 
     /**
      * Indicates whether inliers must be computed and kept.
      *
      * @return true if inliers must be computed and kept, false if inliers
      * only need to be computed but not kept.
      */
     public boolean isComputeAndKeepInliersEnabled() {
         return computeAndKeepInliers;
     }
 
     /**
      * Specifies whether inliers must be computed and kept.
      *
      * @param computeAndKeepInliers true if inliers must be computed and kept,
      *                              false if inliers only need to be computed but not kept.
      * @throws LockedException if calibrator is currently running.
      */
     public void setComputeAndKeepInliersEnabled(final boolean computeAndKeepInliers) throws LockedException {
         if (running) {
             throw new LockedException();
         }
         this.computeAndKeepInliers = computeAndKeepInliers;
     }
 
     /**
      * Indicates whether residuals must be computed and kept.
      *
      * @return true if residuals must be computed and kept, false if residuals
      * only need to be computed but not kept.
      */
     public boolean isComputeAndKeepResiduals() {
         return computeAndKeepResiduals;
     }
 
     /**
      * Specifies whether residuals must be computed and kept.
      *
      * @param computeAndKeepResiduals true if residuals must be computed and kept,
      *                                false if residuals only need to be computed but not kept.
      * @throws LockedException if calibrator is currently running.
      */
     public void setComputeAndKeepResidualsEnabled(final boolean computeAndKeepResiduals) throws LockedException {
         if (running) {
             throw new LockedException();
         }
         this.computeAndKeepResiduals = computeAndKeepResiduals;
     }
 
     /**
      * Estimates accelerometer calibration parameters containing bias, scale factors
      * and cross-coupling errors.
      *
      * @throws LockedException      if calibrator is currently running.
      * @throws NotReadyException    if calibrator is not ready.
      * @throws CalibrationException if estimation fails for numerical reasons.
      */
     @SuppressWarnings("DuplicatedCode")
     @Override
     public void calibrate() throws LockedException, NotReadyException, CalibrationException {
         if (running) {
             throw new LockedException();
         }
         if (!isReady()) {
             throw new NotReadyException();
         }
 
         final var innerEstimator = new PROSACRobustEstimator<>(new PROSACRobustEstimatorListener<PreliminaryResult>() {
             @Override
             public double[] getQualityScores() {
                 return qualityScores;
             }
 
             @Override
             public double getThreshold() {
                 return threshold;
             }
 
             @Override
             public int getTotalSamples() {
                 return measurements.size();
             }
 
             @Override
             public int getSubsetSize() {
                 return preliminarySubsetSize;
             }
 
             @Override
             public void estimatePreliminarSolutions(
                     final int[] samplesIndices, final List<PreliminaryResult> solutions) {
                 computePreliminarySolutions(samplesIndices, solutions);
             }
 
             @Override
             public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                 return computeError(measurements.get(i), currentEstimation);
             }
 
             @Override
             public boolean isReady() {
                 return PROSACRobustKnownFrameAccelerometerCalibrator.this.isReady();
             }
 
             @Override
             public void onEstimateStart(final RobustEstimator<PreliminaryResult> estimator) {
                 // no action needed
             }
 
             @Override
             public void onEstimateEnd(final RobustEstimator<PreliminaryResult> estimator) {
                 // no action needed
             }
 
             @Override
             public void onEstimateNextIteration(
                     final RobustEstimator<PreliminaryResult> estimator, final int iteration) {
                 if (listener != null) {
                     listener.onCalibrateNextIteration(
                             PROSACRobustKnownFrameAccelerometerCalibrator.this, iteration);
                 }
             }
 
             @Override
             public void onEstimateProgressChange(
                     final RobustEstimator<PreliminaryResult> estimator, final float progress) {
                 if (listener != null) {
                     listener.onCalibrateProgressChange(
                             PROSACRobustKnownFrameAccelerometerCalibrator.this, progress);
                 }
             }
         });
 
         try {
             running = true;
 
             if (listener != null) {
                 listener.onCalibrateStart(this);
             }
 
             inliersData = null;
             innerEstimator.setComputeAndKeepInliersEnabled(computeAndKeepInliers || refineResult);
             innerEstimator.setComputeAndKeepResidualsEnabled(computeAndKeepResiduals || refineResult);
             innerEstimator.setConfidence(confidence);
             innerEstimator.setMaxIterations(maxIterations);
             innerEstimator.setProgressDelta(progressDelta);
             final var preliminaryResult = innerEstimator.estimate();
             inliersData = innerEstimator.getInliersData();
 
             attemptRefine(preliminaryResult);
 
             if (listener != null) {
                 listener.onCalibrateEnd(this);
             }
 
         } catch (final com.irurueta.numerical.LockedException e) {
             throw new LockedException(e);
         } catch (final com.irurueta.numerical.NotReadyException e) {
             throw new NotReadyException(e);
         } catch (final RobustEstimatorException e) {
             throw new CalibrationException(e);
         } finally {
             running = false;
         }
     }
 
     /**
      * Returns method being used for robust estimation.
      *
      * @return method being used for robust estimation.
      */
     @Override
     public RobustEstimatorMethod getMethod() {
         return RobustEstimatorMethod.PROSAC;
     }
 
     /**
      * Indicates whether this calibrator requires quality scores for each
      * measurement or not.
      *
      * @return true if quality scores are required, false otherwise.
      */
     @Override
     public boolean isQualityScoresRequired() {
         return true;
     }
 
     /**
      * Sets quality scores corresponding to each provided sample.
      * This method is used internally and does not check whether instance is
      * locked or not.
      *
      * @param qualityScores quality scores to be set.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 4 samples.
      */
     private void internalSetQualityScores(final double[] qualityScores) {
         if (qualityScores == null || qualityScores.length < MINIMUM_MEASUREMENTS) {
             throw new IllegalArgumentException();
         }
 
         this.qualityScores = qualityScores;
     }
 }