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#include <cfloat>
#include <gtest/gtest.h>
#include "EKF/ekf.h"
#include "test_helper/comparison_helper.h"

#include "../EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h"
#include "../EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h"

using namespace matrix;

TEST(FlowGenerated, distBottom0xy)
{
	// GIVEN: 0 distance to the ground (singularity)
	StateSample state{};
	state.quat_nominal = Quatf();

	const float R = sq(radians(sq(0.5f)));
	SquareMatrixState P = createRandomCovarianceMatrix();

	VectorState H;
	Vector2f innov_var;
	sym::ComputeFlowXyInnovVarAndHx(state.vector(), P, R, FLT_EPSILON, &innov_var, &H);
	EXPECT_GT(innov_var(0), 1e12);
	EXPECT_GT(innov_var(1), 1e12);
}

TEST(FlowGenerated, distBottom0y)
{
	// GIVEN: 0 distance to the ground (singularity)
	StateSample state{};
	state.quat_nominal = Quatf();

	const float R = sq(radians(sq(0.5f)));
	SquareMatrixState P = createRandomCovarianceMatrix();

	VectorState H;
	float innov_var;
	sym::ComputeFlowYInnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var, &H);
	EXPECT_GT(innov_var, 1e12);
}