// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include <numbers>

#include <gtest/gtest.h>

#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
#include "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"

static constexpr double kEpsilon = 1E-9;

using namespace frc;

TEST(DifferentialDriveOdometry3dTest, Initialize) {
  DifferentialDriveOdometry3d odometry{
      frc::Rotation3d{0_deg, 0_deg, 90_deg}, 0_m, 0_m,
      frc::Pose3d{1_m, 2_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 45_deg}}};

  const frc::Pose3d& pose = odometry.GetPose();

  EXPECT_NEAR(pose.X().value(), 1, kEpsilon);
  EXPECT_NEAR(pose.Y().value(), 2, kEpsilon);
  EXPECT_NEAR(pose.Z().value(), 0, kEpsilon);
  EXPECT_NEAR(pose.Rotation().ToRotation2d().Degrees().value(), 45, kEpsilon);
}

TEST(DifferentialDriveOdometry3dTest, EncoderDistances) {
  DifferentialDriveOdometry3d odometry{frc::Rotation3d{0_deg, 0_deg, 45_deg},
                                       0_m, 0_m};

  const auto& pose = odometry.Update(frc::Rotation3d{0_deg, 0_deg, 135_deg},
                                     0_m, units::meter_t{5 * std::numbers::pi});

  EXPECT_NEAR(pose.X().value(), 5.0, kEpsilon);
  EXPECT_NEAR(pose.Y().value(), 5.0, kEpsilon);
  EXPECT_NEAR(pose.Z().value(), 0.0, kEpsilon);
  EXPECT_NEAR(pose.Rotation().ToRotation2d().Degrees().value(), 90.0, kEpsilon);
}