"""Tests some general properties of geometries."""

# Generic testing
from unittest import TestCase

# Scientific testing
from numpy.testing import assert_array_almost_equal

# Hypothesis testing
from hypothesis import given
import hypothesis.strategies as st

# Package under test
from pyrate.plan.geometry import CartesianGeometry

# Test helpers
from pyrate.common.testing.strategies.geometry import cartesian_objects
from pyrate.common.testing.strategies.geometry import geo_bearings


class TestCartesianGeometries(TestCase):
    """Asserts general properties of the cartesian geometries."""

    @given(
        cartesian_objects(),
        geo_bearings(),
        st.floats(min_value=1.0, max_value=100_000.0),
    )
    def test_translation_is_invertible(
        self,
        original: CartesianGeometry,
        direction: float,
        distance: float,
    ) -> None:
        """Tests that translation is invertible and a valid backwards vector is returned."""

        # translate & translate back
        translated, back_vector = original.translate(direction, distance)
        back_direction = (direction + 180) % 360
        translated_translated, back_back_vector = translated.translate(back_direction, distance)

        # check the result
        assert_array_almost_equal(back_vector, -back_back_vector, decimal=9)
        self.assertTrue(original.equals_exact(translated_translated, tolerance=1e-9))