//==================================================================================================
/*
  ROTGEN - Runtime Overlay for Eigen
  Copyright : CODE RECKONS
  SPDX-License-Identifier: BSL-1.0
*/
//==================================================================================================
#include <rotgen/rotgen.hpp>

#include "unit/common/references.hpp"
#include "unit/tests.hpp"

TTS_CASE_TPL("Test dynamic matrix inverse", rotgen::tests::types)

<typename T, typename O>(tts::type<tts::types<T, O>>)
{
  using mat_t = rotgen::matrix<T, rotgen::Dynamic, rotgen::Dynamic, O::value>;
  auto eps = std::numeric_limits<T>::epsilon();

  for (int n = 2; n < 15; n *= 1.5)
  {
    auto input = 10 * rotgen::setRandom<mat_t>(n, n);
    auto inv = rotgen::inverse(input);

    auto rec = input * inv;
    auto id = rotgen::setIdentity<mat_t>(rotgen::rows(rec), rotgen::cols(rec));
    auto error = rec - id;

    TTS_LESS_EQUAL(rotgen::maxCoeff(rotgen::abs(error)) / eps, 256.)
      << "Result:\n"
      << rec << "\n"
      << "Residuals:\n"
      << error << "\n";
  }
};

template<typename T, typename O, int N> void check_static_inverse()
{
  using mat_t = rotgen::matrix<T, N, N, O::value>;
  auto eps = std::numeric_limits<T>::epsilon();

  auto input = rotgen::setRandom<mat_t>();
  auto inv = rotgen::inverse(input);

  auto rec = input * inv;
  auto id = rotgen::setIdentity<mat_t>(rotgen::rows(rec), rotgen::cols(rec));
  auto error = rec - id;

  TTS_LESS_EQUAL(rotgen::maxCoeff(rotgen::abs(error)) / eps, 256.)
    << "Result:\n"
    << rec << "\n"
    << "Residuals:\n"
    << error << "\n";
}

TTS_CASE_TPL("Test static matrix inverse", rotgen::tests::types)

<typename T, typename O>(tts::type<tts::types<T, O>>)
{
  check_static_inverse<T, O, 2>();
  check_static_inverse<T, O, 3>();
  check_static_inverse<T, O, 4>();
  check_static_inverse<T, O, 6>();
  check_static_inverse<T, O, 9>();
  check_static_inverse<T, O, 13>();
};