//==================================================================================================
/*
  ROTGEN - Runtime Overlay for Eigen
  Copyright : CODE RECKONS
  SPDX-License-Identifier: BSL-1.0
*/
//==================================================================================================
#include "unit/tests.hpp"
#include "unit/common/arithmetic.hpp"
#include <rotgen/rotgen.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 (const auto& [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);
};