import numpy as np
import scipy.interpolate as si
import scipy.spatial.transform as st


def get_interp1d(t, x):
    gripper_interp = si.interp1d(
        t, x, axis=0, bounds_error=False, fill_value=(x[0], x[-1])
    )
    return gripper_interp


class PoseInterpolator:
    def __init__(self, t, x):
        pos = x[:, :3]
        rot = st.Rotation.from_rotvec(x[:, 3:])
        self.pos_interp = get_interp1d(t, pos)
        self.rot_interp = st.Slerp(t, rot)

    @property
    def x(self):
        return self.pos_interp.x

    def __call__(self, t):
        min_t = self.pos_interp.x[0]
        max_t = self.pos_interp.x[-1]
        t = np.clip(t, min_t, max_t)

        pos = self.pos_interp(t)
        rot = self.rot_interp(t)
        rvec = rot.as_rotvec()
        pose = np.concatenate([pos, rvec], axis=-1)
        return pose


def get_gripper_calibration_interpolator(aruco_measured_width, aruco_actual_width):
    """
    Assumes the minimum width in aruco_actual_width
    is measured when the gripper is fully closed
    and maximum width is when the gripper is fully opened
    """
    aruco_measured_width = np.array(aruco_measured_width)
    aruco_actual_width = np.array(aruco_actual_width)
    assert len(aruco_measured_width) == len(aruco_actual_width)
    assert len(aruco_actual_width) >= 2
    aruco_min_width = np.min(aruco_actual_width)
    gripper_actual_width = aruco_actual_width - aruco_min_width
    interp = get_interp1d(aruco_measured_width, gripper_actual_width)
    return interp