/*=========================================================================

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkVersorTransformTest.cxx,v $
  Language:  C++
  Date:      $Date: 2005/03/09 16:46:14 $
  Version:   $Revision: 1.4 $

  Copyright (c) Insight Software Consortium. All rights reserved.
  See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.

     This software is distributed WITHOUT ANY WARRANTY; without even 
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
     PURPOSE.  See the above copyright notices for more information.

=========================================================================*/
#if defined(_MSC_VER)
#pragma warning ( disable : 4786 )
#endif

/**
 *  
 *  This program illustrates the use of VersorsRigid3DTransform
 *  
 *  Versors are Unit Quaternions used to represent rotations. 
 *  VersorTransform is a Rigid 3D Transform that support
 *  Versors and Vectors in its interface.
 *
 */


#include "itkVersorTransform.h"
#include <iostream>



//-------------------------
//
//   Main code
//
//-------------------------
int itkVersorTransformTest(int, char* [] ) 
{

  typedef   double          ValueType;

  const ValueType epsilon = 1e-12;


  //  Versor Transform type
  typedef    itk::VersorTransform< ValueType >   TransformType;

  //  Versor type
  typedef    TransformType::VersorType      VersorType;


  //  Vector type
  typedef    TransformType::InputVectorType      VectorType;


  //  Point type
  typedef    TransformType::InputPointType      PointType;


  //  Covariant Vector type
  typedef    TransformType::InputCovariantVectorType      CovariantVectorType;


  //  VnlVector type
  typedef    TransformType::InputVnlVectorType      VnlVectorType;


  //  Parameters type
  typedef    TransformType::ParametersType      ParametersType;


  //  Jacobian type
  typedef    TransformType::JacobianType      JacobianType;


  //  Rotation Matrix type
  typedef    TransformType::MatrixType           MatrixType;

  
  {
    std::cout << "Test default constructor... ";
    
    TransformType::Pointer transform = TransformType::New();

    VectorType axis(1.5);

    ValueType angle = 120.0*atan(1.0)/45.0;

    VersorType versor;
    versor.Set( axis, angle );
    
    ParametersType parameters( transform->GetNumberOfParameters() ); // Number of parameters

    parameters[0] = versor.GetX();
    parameters[1] = versor.GetY();
    parameters[2] = versor.GetZ();

    transform->SetParameters( parameters );

    if( 0.0 > epsilon ) 
      {
      std::cout << "Error ! " << std::endl;
      return EXIT_FAILURE;
      } 
    std::cout << " PASSED !" << std::endl;

  }


  {
    std::cout << "Test initial rotation matrix " << std::endl;
    TransformType::Pointer transform = TransformType::New();
    MatrixType matrix = transform->GetRotationMatrix();
    std::cout << "Matrix = " << std::endl;
    std::cout <<    matrix   << std::endl;
  }



  /* Create a Rigid 3D transform with rotation */

  {
    bool Ok = true;

    TransformType::Pointer  rotation = TransformType::New();

    itk::Vector<double,3> axis(1);

    const double angle = (atan(1.0)/45.0)*120.0; // turn 120 degrees

    // this rotation will permute the axis x->y, y->z, z->x
    rotation->SetRotation( axis, angle );

    TransformType::OffsetType offset = rotation->GetOffset();
    std::cout << "pure Rotation test:  ";
    std::cout << offset << std::endl;

    for(unsigned int i=0; i<3; i++)
    {
      if( fabs( offset[i] - 0.0 ) > epsilon )
      {
        Ok = false;
        break;    
      }
    }

    if( !Ok )
    { 
      std::cerr << "Get Offset  differs from null in rotation " << std::endl;
      return EXIT_FAILURE;
    }

    VersorType versor;
    versor.Set( axis, angle );
    
    {
      // Rotate an itk::Point
      TransformType::InputPointType::ValueType pInit[3] = {1,4,9};
      TransformType::InputPointType p = pInit;
      TransformType::OutputPointType q;
      q = versor.Transform( p );

      TransformType::OutputPointType r;
      r = rotation->TransformPoint( p );
      for(unsigned int i=0; i<3; i++)
      {
        if( fabs( q[i]- r[i] ) > epsilon )
        {
          Ok = false;
          break;    
        }
      }
      if( !Ok )
      { 
        std::cerr << "Error rotating point : " << p << std::endl;
        std::cerr << "Result should be     : " << q << std::endl;
        std::cerr << "Reported Result is   : " << r << std::endl;
        return EXIT_FAILURE;
      }
      else
      {
        std::cout << "Ok rotating an itk::Point " << std::endl;
      }
    }

    {
      // Translate an itk::Vector
      TransformType::InputVectorType::ValueType pInit[3] = {1,4,9};
      TransformType::InputVectorType p = pInit;
      TransformType::OutputVectorType q;
      q = versor.Transform( p );

      TransformType::OutputVectorType r;
      r = rotation->TransformVector( p );
      for(unsigned int i=0; i<3; i++)
      {
        if( fabs( q[i] - r[i] ) > epsilon )
        {
          Ok = false;
          break;    
        }
      }
      if( !Ok )
      { 
        std::cerr << "Error rotating vector : " << p << std::endl;
        std::cerr << "Result should be      : " << q << std::endl;
        std::cerr << "Reported Result is    : " << r << std::endl;
        return EXIT_FAILURE;
      }
      else
      {
        std::cout << "Ok rotating an itk::Vector " << std::endl;
      }
    }


    {
      // Translate an itk::CovariantVector
      TransformType::InputCovariantVectorType::ValueType pInit[3] = {1,4,9};
      TransformType::InputCovariantVectorType p = pInit;
      TransformType::OutputCovariantVectorType q;
      q = versor.Transform( p );

      TransformType::OutputCovariantVectorType r;
      r = rotation->TransformCovariantVector( p );
      for(unsigned int i=0; i<3; i++)
      {
        if( fabs( q[i] - r[i] ) > epsilon )
        {
          Ok = false;
          break;    
        }
      }
      if( !Ok )
      { 
        std::cerr << "Error rotating covariant vector : " << p << std::endl;
        std::cerr << "Result should be                : " << q << std::endl;
        std::cerr << "Reported Result is              : " << r << std::endl;
        return EXIT_FAILURE;
      }
      else
      {
        std::cout << "Ok rotating an itk::CovariantVector " << std::endl;
      }
    }

    
    {
      // Translate a vnl_vector
      TransformType::InputVnlVectorType p;
      p[0] = 1;
      p[1] = 4;
      p[2] = 9;

      TransformType::OutputVnlVectorType q;
      q = versor.Transform( p );

      TransformType::OutputVnlVectorType r;
      r = rotation->TransformVector( p );
      for(unsigned int i=0; i<3; i++)
      {
        if( fabs( q[i] - r[i] ) > epsilon )
        {
          Ok = false;
          break;    
        }
      }
      if( !Ok )
      { 
        std::cerr << "Error rotating vnl_vector : " << p << std::endl;
        std::cerr << "Result should be          : " << q << std::endl;
        std::cerr << "Reported Result is        : " << r << std::endl;
        return EXIT_FAILURE;
      }
      else
      {
        std::cout << "Ok rotating an vnl_Vector " << std::endl;
      }
    }




  }



  /**  Exercise the SetCenter method  */

  // ENABLE THIS BLOCK AFTER THE TRANSFORM REFACTORING
  /*  
  {
  bool Ok = true;

    TransformType::Pointer  transform = TransformType::New();

    itk::Vector<double,3> axis(1);

    const double angle = (atan(1.0)/45.0)*30.0; // turn 30 degrees

    transform->SetRotation( axis, angle );

    TransformType::InputPointType  center;
    center[0] = 31;
    center[1] = 62;
    center[2] = 93;
    
    // FIXME: A center will be available after the Transforms are refactored.
    // transform->SetCenter( center );

    TransformType::OutputPointType transformedPoint;
    transformedPoint = transform->TransformPoint( center );

    for(unsigned int i=0; i<3; i++)
      {
        if( fabs( center[i] - transformedPoint[i] ) > epsilon )
        {
          Ok = false;
          break;    
        }
      }

    if( !Ok )
      { 
      std::cerr << "The center point was not invariant to rotation " << std::endl;
      return EXIT_FAILURE;
      }
    else
      {
      std::cout << "Ok center is invariant to rotation." << std::endl;
      }

    const unsigned int np = transform->GetNumberOfParameters();

    ParametersType parameters( np ); // Number of parameters

    VersorType versor;

    parameters[0] = versor.GetX();   // Rotation axis * sin(t/2)
    parameters[1] = versor.GetY();
    parameters[2] = versor.GetZ();
    parameters[3] = 8.0;             // Translation
    parameters[4] = 7.0;
    parameters[5] = 6.0;

    transform->SetParameters( parameters );

    ParametersType parameters2 = transform->GetParameters();

    const double tolerance = 1e-8;

    for(unsigned int p=0; p<np; p++)
      {
      if( fabs( parameters[p] - parameters2[p] ) > tolerance )
        {
        std::cerr << "Output parameter does not match input " << std::endl;
        return EXIT_FAILURE;
        }
      }
     std::cout << "Input/Output parameter check Passed !"  << std::endl;

     // Try the GetJacobian method
     TransformType::InputPointType  aPoint;
     aPoint[0] = 10.0;
     aPoint[1] = 20.0;
     aPoint[2] = -10.0;
     JacobianType   jacobian = transform->GetJacobian( aPoint );
     std::cout << "Jacobian: "  << std::endl;
     std::cout << jacobian << std::endl;

     // copy the read one just for getting the right matrix size
     JacobianType   TheoreticalJacobian = jacobian;
     
     TheoreticalJacobian[0][0] =    0.0;
     TheoreticalJacobian[1][0] =  206.0;
     TheoreticalJacobian[2][0] =  -84.0;

     TheoreticalJacobian[0][1] = -206.0;
     TheoreticalJacobian[1][1] =    0.0;
     TheoreticalJacobian[2][1] =  -42.0;

     TheoreticalJacobian[0][2] =   84.0;
     TheoreticalJacobian[1][2] =   42.0;
     TheoreticalJacobian[2][2] =    0.0;

     TheoreticalJacobian[0][3] = 1.0;
     TheoreticalJacobian[1][3] = 0.0;
     TheoreticalJacobian[2][3] = 0.0;

     TheoreticalJacobian[0][4] = 0.0;
     TheoreticalJacobian[1][4] = 1.0;
     TheoreticalJacobian[2][4] = 0.0;

     TheoreticalJacobian[0][5] = 0.0;
     TheoreticalJacobian[1][5] = 0.0;
     TheoreticalJacobian[2][5] = 1.0;

     for(unsigned int ii=0; ii < 3; ii++)
       {
       for(unsigned int jj=0; jj < 6; jj++)
         {
         if( vnl_math_abs( TheoreticalJacobian[ii][jj] - jacobian[ii][jj] ) > 1e-5 )
           {
           std::cerr << "Jacobian components differ from expected values ";
           std::cerr << std::endl << std::endl;
           std::cerr << "Expected Jacobian = " << std::endl;
           std::cerr << TheoreticalJacobian << std::endl << std::endl;
           std::cerr << "Computed Jacobian = " << std::endl;
           std::cerr << jacobian << std::endl << std::endl;
           std::cerr << std::endl << "Test FAILED ! " << std::endl;
           return EXIT_FAILURE;
           }
         }
       }
  }
  */  // ENABLE THIS BLOCK AFTER THE TRANSFORM REFACTORING

  std::cout << std::endl << "Test PASSED ! " << std::endl;
  return EXIT_SUCCESS;

}



