#ifndef RUNE_FIT_HPP_
#define RUNE_FIT_HPP_

// OpenCV
#include <opencv2/core/types.hpp>
#include <opencv2/opencv.hpp>

#include <ceres/ceres.h>

// STD
#include <utility>
#include <vector>

namespace rm_power_rune
{
    struct SpeedfitResidual
    {
        SpeedfitResidual(double x, double y)
            : t_(x), speed_(y) {}

        template <typename T>
        bool operator()(const T *const param, T *residual) const
        {
            //param[0]->a 0.78-1.045 
            //param[1]->w 1.884-2  
            //b= 2.090-a  
            residual[0] = T(speed_) - (param[0] * ceres::sin(param[1] * T(t_)+param[2]) + (2.090 - param[0]));
            return true;
        }
    private:
        // Observations for a sample.
        const double t_;
        const double speed_;
    };

    class rune_fitter
    {
    private:
        std::vector<double> t_data_,speed_data_;
        double curve_param_[3]={0.78,1.884,0};
        int fitdataCount_; //拟合数据个数
        bool fit_flag;
    public:
        rune_fitter(int data_count);
        ~rune_fitter();
        bool add_data(double t,double speed);
        bool fit_speed();
        bool is_data_enough();
        bool is_fitted();
        void draw_result();
        void draw_result_matplot();
    };
    

} // namespace rm_power_rune

#endif