#include "pybind11/eigen.h"
#include "pybind11/operators.h"
#include "pybind11/pybind11.h"
#include "pybind11/stl.h"

#include "drake/bindings/pydrake/common/default_scalars_pybind.h"
#include "drake/bindings/pydrake/documentation_pybind.h"
#include "drake/bindings/pydrake/polynomial_types_pybind.h"
#include "drake/bindings/pydrake/pydrake_pybind.h"
#include "drake/common/polynomial.h"

namespace drake {
namespace pydrake {

namespace {
template <typename T>
void DoScalarDependentDefinitions(py::module m, T) {
  py::tuple param = GetPyParam<T>();

  using Class = Polynomial<T>;
  constexpr auto& cls_doc = pydrake_doc.drake.Polynomial;
  auto cls = DefineTemplateClassWithDefault<Class>(
      m, "Polynomial", param, cls_doc.doc);
  cls  // BR
      .def(py::init<>(), cls_doc.ctor.doc_0args)
      .def(py::init<const T&>(), cls_doc.ctor.doc_1args_scalar)
      .def(py::init<const Eigen::Ref<const Eigen::VectorXd>&>(),
          py::arg("coefficients"), cls_doc.ctor.doc_1args_constEigenMatrixBase)
      .def("GetNumberOfCoefficients", &Class::GetNumberOfCoefficients,
          cls_doc.GetNumberOfCoefficients.doc)
      .def("GetDegree", &Class::GetDegree, cls_doc.GetDegree.doc)
      .def("IsAffine", &Class::IsAffine, cls_doc.IsAffine.doc)
      .def("GetCoefficients", &Class::GetCoefficients,
          cls_doc.GetCoefficients.doc)
      .def(
          "EvaluateUnivariate",
          [](const Class* self, const T& x, int derivative_order) {
            return self->EvaluateUnivariate(x, derivative_order);
          },
          py::arg("x"), py::arg("derivative_order") = 0,
          cls_doc.EvaluateUnivariate.doc)
      .def("Derivative", &Class::Derivative, py::arg("derivative_order") = 1,
          cls_doc.Derivative.doc)
      .def("Integral", &Class::Integral, py::arg("integration_constant") = 0.0,
          cls_doc.Integral.doc)
      .def("CoefficientsAlmostEqual", &Class::CoefficientsAlmostEqual,
          py::arg("other"), py::arg("tol") = 0.0,
          py::arg("tol_type") = ToleranceType::kAbsolute,
          cls_doc.CoefficientsAlmostEqual.doc)
      // Arithmetic
      .def(-py::self)
      .def(py::self + py::self)
      .def(py::self + double())
      .def(double() + py::self)
      .def(py::self - py::self)
      .def(py::self - double())
      .def(double() - py::self)
      .def(py::self * py::self)
      .def(py::self * double())
      .def(double() * py::self)
      .def(py::self / double())
      // Logical comparison
      .def(py::self == py::self);
}
}  // namespace

PYBIND11_MODULE(polynomial, m) {
  py::module::import("pydrake.autodiffutils");
  py::module::import("pydrake.common");
  py::module::import("pydrake.symbolic");

  type_visit([m](auto dummy) { DoScalarDependentDefinitions(m, dummy); },
      CommonScalarPack{});
}

}  // namespace pydrake
}  // namespace drake