// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
//
// Eigen is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 3 of the License, or (at your option) any later version.
//
// Alternatively, you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of
// the License, or (at your option) any later version.
//
// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.

#include "main.h"
#include <Eigen/Geometry>
#include <Eigen/LU>
#include <Eigen/SVD>

template<typename Scalar> void eulerangles(void)
{
  typedef Matrix<Scalar,3,3> Matrix3;
  typedef Matrix<Scalar,3,1> Vector3;
  typedef Quaternion<Scalar> Quaternionx;
  typedef AngleAxis<Scalar> AngleAxisx;

  Scalar a = ei_random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
  Quaternionx q1;
  q1 = AngleAxisx(a, Vector3::Random().normalized());
  Matrix3 m;
  m = q1;

  #define VERIFY_EULER(I,J,K, X,Y,Z) { \
    Vector3 ea = m.eulerAngles(I,J,K); \
    Matrix3 m1 = Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z())); \
    VERIFY_IS_APPROX(m,  Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z()))); \
  }
  VERIFY_EULER(0,1,2, X,Y,Z);
  VERIFY_EULER(0,1,0, X,Y,X);
  VERIFY_EULER(0,2,1, X,Z,Y);
  VERIFY_EULER(0,2,0, X,Z,X);

  VERIFY_EULER(1,2,0, Y,Z,X);
  VERIFY_EULER(1,2,1, Y,Z,Y);
  VERIFY_EULER(1,0,2, Y,X,Z);
  VERIFY_EULER(1,0,1, Y,X,Y);

  VERIFY_EULER(2,0,1, Z,X,Y);
  VERIFY_EULER(2,0,2, Z,X,Z);
  VERIFY_EULER(2,1,0, Z,Y,X);
  VERIFY_EULER(2,1,2, Z,Y,Z);
}

void test_geo_eulerangles()
{
  for(int i = 0; i < g_repeat; i++) {
    CALL_SUBTEST_1( eulerangles<float>() );
    CALL_SUBTEST_2( eulerangles<double>() );
  }
}