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

#include "unit/common/arithmetic.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();

  auto const cases = rotgen::tests::generate_matrix_references();
  for (auto const& [r, c, fn] : cases)
  {
    if (r == c)
    {
      auto input = mat_t::Random(r, c);
      auto inv = rotgen::inverse(input);

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

      TTS_LESS_EQUAL(rotgen::maxCoeff(rotgen::abs(error)) / eps, 64.)
        << "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>>)
{
  using mat_t = rotgen::matrix<T, rotgen::Dynamic, rotgen::Dynamic, O::value>;
  auto eps = std::numeric_limits<T>::epsilon();
  auto const cases = rotgen::tests::generate_static_matrix_references();

  auto process = [&]<typename D>(D const&) {
    if constexpr (D::rows == D::cols)
    {
      auto input = rotgen::matrix<T, D::rows, D::cols, O::value>::Random();
      auto inv = rotgen::inverse(input);

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

      TTS_LESS_EQUAL(rotgen::maxCoeff(rotgen::abs(error)) / eps, 64.)
        << "Result:\n"
        << rec << "\n"
        << "Residuals:\n"
        << error << "\n";
    }
  };

  std::apply([&](auto const&... d) { (process(d), ...); }, cases);
};