"""Roundtrip RPY (deg) ↔ quaternion xyzw."""
from __future__ import annotations

import numpy as np
import pytest

from presa_mano.geometry import (
    quaternion_xyzw_to_rpy_deg,
    rpy_deg_to_quaternion_xyzw,
)


def test_zero_rpy_is_identity_quat():
    q = rpy_deg_to_quaternion_xyzw(0.0, 0.0, 0.0)
    assert np.allclose(q, [0.0, 0.0, 0.0, 1.0], atol=1e-9)


def test_quat_identity_is_zero_rpy():
    rpy = quaternion_xyzw_to_rpy_deg([0.0, 0.0, 0.0, 1.0])
    assert np.allclose(rpy, [0.0, 0.0, 0.0], atol=1e-6)


@pytest.mark.parametrize("roll,pitch,yaw", [
    (10.0, 20.0, 30.0),
    (-45.0, 0.0, 90.0),
    (0.0, 60.0, -30.0),
    (15.0, -25.0, 80.0),
])
def test_roundtrip_rpy_quat_rpy(roll, pitch, yaw):
    q = rpy_deg_to_quaternion_xyzw(roll, pitch, yaw)
    r2, p2, y2 = quaternion_xyzw_to_rpy_deg(q)
    assert abs(r2 - roll) < 1e-4
    assert abs(p2 - pitch) < 1e-4
    assert abs(y2 - yaw) < 1e-4


def test_quat_unit_norm():
    q = rpy_deg_to_quaternion_xyzw(33.0, -17.0, 91.5)
    n = float(np.linalg.norm(q))
    assert abs(n - 1.0) < 1e-9