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/**
 * Test code for the Velocity Smoothing library
 * Build and run using: make && ./test_velocity_smoothing
 */

#include "VelocitySmoothing.hpp"
#include <cstdio>

int main(int argc, char *argv[])
{
	VelocitySmoothing trajectory[3];

	float a0[3] = {0.22, 0.f, 0.22f};
	float v0[3] = {2.47f, -5.59e-6f, 2.47f};
	float x0[3] = {0.f, 0.f, 0.f};

	float j_max = 55.2f;
	float a_max = 6.f;
	float v_max = 6.f;

	for (int i = 0; i < 3; i++) {
		trajectory[i].setMaxJerk(j_max);
		trajectory[i].setMaxAccel(a_max);
		trajectory[i].setMaxVel(v_max);
		trajectory[i].setCurrentAcceleration(a0[i]);
		trajectory[i].setCurrentVelocity(v0[i]);
	}

	float dt = 0.01f;

	float velocity_setpoint[3] = {0.f, 1.f, 0.f};

	for (int i = 0; i < 3; i++) {
		trajectory[i].updateDurations(dt, velocity_setpoint[i]);
	}

	VelocitySmoothing::timeSynchronization(trajectory, 2);

	for (int i = 0; i < 3; i++) {
		trajectory[i].integrate(a0[i], v0[i], x0[i]);
	}

	for (int i = 0; i < 3; i++) {
		printf("Traj[%d]\n", i);
		printf("jerk = %.3f\taccel = %.3f\tvel = %.3f\n", trajectory[i].getCurrentJerk(),
		       trajectory[i].getCurrentAcceleration(), trajectory[i].getCurrentVelocity());
		printf("T1 = %.3f\tT2 = %.3f\tT3 = %.3f\n", trajectory[i].getT1(), trajectory[i].getT2(), trajectory[i].getT3());
		printf("\n");
	}

	return 0;
}