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// test_tracker.cc
// nono - programme du robot 2004. {{{
//
// Copyright (C) 2004 Nicolas Schodet
//
// Robot APB Team/Efrei 2004.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
// 
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//
// }}}
#include "tracker.h"
#include "erreur/erreur.h"

#include <stdlib.h>
#include <iostream>

int
main (int argc, char **argv)
{
    try
      {
	Tracker t;
	if (argc < 2) return 1;
	switch (argv[1][0])
	  {
	  case 'e':
	    // Teste le calcul d'erreur.
	    for (int i = 2; i < argc - 1; i += 2)
	      {
		double x = atof (argv[i]);
		double y = atof (argv[i + 1]);
		double el, ea;
		t.computeError (x, y, el, ea);
		std::cout << "error " << x << ' ' << y << ' ' << el << ' ' <<
		    ea << std::endl;
	      }
	    break;
	  case 'a':
	    // Teste le calcul d'arcs.
	    for (int i = 2; i < argc - 1; i += 2)
	      {
		double x = atof (argv[i]);
		double y = atof (argv[i + 1]);
		double l, r;
		t.computeArcs (x, y, l, r, 50.0);
		std::cout << "arc " << x << ' ' << y << ' ' << l << ' ' << r
		    << std::endl;
	      }
	    break;
	  default:
	    // Teste les updates.
	    for (int i = 1; i < argc - 1; i += 2)
	      {
		double l = atof (argv[i]);
		double r = atof (argv[i + 1]);
		t.update (l, r, false);
		std::cout << "update " << l << ' ' << r << " pos " << t <<
		    std::endl;
	      }
	  }
	return 0;
      }
    catch (Erreur &e)
      {
	cerr << e.what () << endl;
	return 1;
      }
}