/*! ========================================================================

** Extended Template and Library Test Suite

** Hermite Curve Test

** $Id$

**

** Copyright (c) 2002 Robert B. Quattlebaum Jr.

** Copyright (c) 2007 Chris Moore

**

** This package is free software; you can redistribute it and/or

** modify it under the terms of the GNU General Public License as

** published by the Free Software Foundation; either version 2 of

** the License, or (at your option) any later version.

**

** This package 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

** General Public License for more details.

**

** === N O T E S ===========================================================

**

** ========================================================================= */

/* === H E A D E R S ======================================================= */

#include <etl hermite=""></etl>

#include <etl angle=""></etl>

#include <etl clock=""></etl>

#include <etl calculus=""></etl>

#include <etl fixed=""></etl>

#include <stdio.h></stdio.h>

/* === M A C R O S ========================================================= */

using namespace etl;

/* === C L A S S E S ======================================================= */

/* === P R O C E D U R E S ================================================= */

int basic_test(void)

{

	int ret=0;

	float f;

	hermite<float> Hermie;</float>

	etl::clock timer;

	double t;

	Hermie.p1()=0;

	Hermie.t1()=1;

	Hermie.p2()=0;

	Hermie.t2()=1;

	Hermie.sync();

	integral<hermite<float> > inte(Hermie);</hermite<float>

	fprintf(stderr,"integral of curve() on [0,1] = %f\n",inte(0,1.0));

	fprintf(stderr,"integral of curve() on [-1,3] = %f\n",inte(-1.0,3.0));

	Hermie.set_rs(-1.0,7.0);

	inte=integral<hermite<float> >(Hermie);</hermite<float>

	fprintf(stderr,"integral of curve()[%f,%f] on [-1,7] = %f\n",Hermie.get_r(),Hermie.get_s(),inte(-1.0,7.0));

	fprintf(stderr,"integral of curve()[%f,%f] on [0,1] = %f\n",Hermie.get_r(),Hermie.get_s(),inte(0,1.0));

	Hermie.set_rs(0.0,1.0);

	for(f=0.0f,timer.reset();f<1.001f;f+=0.000005f)

	{

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

	}

	t=timer();

	fprintf(stderr,"time=%f milliseconds\n",t*1000);

	return ret;

}

int angle_test(void)

{

	int ret=0;

	float f;

	hermite<angle> Hermie;</angle>

	etl::clock timer;

	angle tmp;

	double t;

	Hermie.p1()=angle::degrees(0);

	Hermie.t1()=angle::degrees(45);

	Hermie.p2()=angle::degrees(-45);

	Hermie.t2()=angle::degrees(180);

	Hermie.sync();

	for(f=0.0f,timer.reset();f<1.001f;f+=0.000005f)

	{

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

	}

	t=timer();

	fprintf(stderr,"angle time=%f milliseconds\n",t*1000);

	return ret;

}

int fixed_test(void)

{

	int ret=0;

	float f;

	hermite<float,fixed> Hermie;</float,fixed>

	etl::clock timer;

	double t;

	Hermie.p1()=0;

	Hermie.t1()=1;

	Hermie.p2()=0;

	Hermie.t2()=1;

	Hermie.sync();

	for(f=0.0f,timer.reset();f<1.001f;f+=0.005f)

	{

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

		t+=Hermie(f)+Hermie(f+0.1f);

	}

	t=timer();

	fprintf(stderr,"time=%f milliseconds\n",t*1000);

	return ret;

}

int anglefixed_test(void)

{

	int ret=0;

	float f;

	hermite<angle,fixed> Hermie;</angle,fixed>

	etl::clock timer;

	angle tmp;

	double t;

	Hermie.p1()=angle::degrees(0);

	Hermie.t1()=angle::degrees(45);

	Hermie.p2()=angle::degrees(-45);

	Hermie.t2()=angle::degrees(180);

	Hermie.sync();

	for(f=0.0f,timer.reset();f<1.001f;f+=0.0005f)

	{

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

		tmp+=Hermie(f)+Hermie(f+0.1f);

	}

	t=timer();

	fprintf(stderr,"angle fixed time=%f milliseconds\n",t*1000);

	return ret;

}

int float_intersection_test()

{

	int ret=0;

	hermite<float> curve1(0,1,0,1);</float>

	hermite<float> curve2(-1,2,-1,-2);</float>

	double t1,t2;

	float d;

	t1=curve1.intersect(curve2);

	t2=curve2.intersect(curve1);

	d=curve1(t1)-curve2(t2);

	fprintf(stderr,"float:Intersection difference: %f (t1=%f, t2=%f)\n",d,t1,t2);

	if(d>0.01)

	{

		fprintf(stderr,"float:FAILED INTERSECTION TEST.\n");

		ret++;

	}

	return ret;

}

/* === E N T R Y P O I N T ================================================= */

int main()

{

	int error=0;

	error+=basic_test();

	error+=angle_test();

	error+=fixed_test();

	error+=float_intersection_test();

	return error;

}