// This file is part of Eigen, a lightweight C++ template library
// for linear algebra. Eigen itself is part of the KDE project.
//
// Copyright (C) 2008 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/>.

#ifndef EIGEN_ANGLEAXIS_H
#define EIGEN_ANGLEAXIS_H

/** \geometry_module \ingroup Geometry
  *
  * \class AngleAxis
  *
  * \brief Represents a 3D rotation as a rotation angle around an arbitrary 3D axis
  *
  * \param _Scalar the scalar type, i.e., the type of the coefficients.
  *
  * The following two typedefs are provided for convenience:
  * \li \c AngleAxisf for \c float
  * \li \c AngleAxisd for \c double
  *
  * \addexample AngleAxisForEuler \label How to define a rotation from Euler-angles
  *
  * Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily
  * mimic Euler-angles. Here is an example:
  * \include AngleAxis_mimic_euler.cpp
  * Output: \verbinclude AngleAxis_mimic_euler.out
  *
  * \sa class Quaternion, class Transform, MatrixBase::UnitX()
  */
template<typename _Scalar>
class AngleAxis
{
public:
  enum { Dim = 3 };
  /** the scalar type of the coefficients */
  typedef _Scalar Scalar;
  typedef Matrix<Scalar,3,3> Matrix3;
  typedef Matrix<Scalar,3,1> Vector3;
  typedef Quaternion<Scalar> QuaternionType;

protected:

  Vector3 m_axis;
  Scalar m_angle;

public:

  /** Default constructor without initialization. */
  AngleAxis() {}
  /** Constructs and initialize the angle-axis rotation from an \a angle in radian
    * and an \a axis which must be normalized. */
  template<typename Derived>
  inline AngleAxis(Scalar angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
  /** Constructs and initialize the angle-axis rotation from a quaternion \a q. */
  inline AngleAxis(const QuaternionType& q) { *this = q; }
  /** Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. */
  template<typename Derived>
  inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; }

  Scalar angle() const { return m_angle; }
  Scalar& angle() { return m_angle; }

  const Vector3& axis() const { return m_axis; }
  Vector3& axis() { return m_axis; }

  /** Concatenates two rotations */
  inline QuaternionType operator* (const AngleAxis& other) const
  { return QuaternionType(*this) * QuaternionType(other); }

  /** Concatenates two rotations */
  inline QuaternionType operator* (const QuaternionType& other) const
  { return QuaternionType(*this) * other; }

  /** Concatenates two rotations */
  friend inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
  { return a * QuaternionType(b); }

  /** Concatenates two rotations */
  inline typename ProductReturnType<Matrix3,Matrix3>::Type
  operator* (const Matrix3& other) const
  { return toRotationMatrix() * other; }

  /** Concatenates two rotations */
  inline friend typename ProductReturnType<Matrix3,Matrix3>::Type
  operator* (const Matrix3& a, const AngleAxis& b)
  { return a * b.toRotationMatrix(); }

  /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
  AngleAxis inverse() const
  { return AngleAxis(-m_angle, m_axis); }

  AngleAxis& operator=(const QuaternionType& q);
  template<typename Derived>
  AngleAxis& operator=(const MatrixBase<Derived>& m);

  template<typename Derived>
  AngleAxis& fromRotationMatrix(const MatrixBase<Derived>& m);
  Matrix3 toRotationMatrix(void) const;
};

/** \ingroup Geometry
  * single precision angle-axis type */
typedef AngleAxis<float> AngleAxisf;
/** \ingroup Geometry
  * double precision angle-axis type */
typedef AngleAxis<double> AngleAxisd;

/** Set \c *this from a quaternion.
  * The axis is normalized.
  */
template<typename Scalar>
AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionType& q)
{
  Scalar n2 = q.vec().norm2();
  if (n2 < precision<Scalar>()*precision<Scalar>())
  {
    m_angle = 0;
    m_axis << 1, 0, 0;
  }
  else
  {
    m_angle = 2*std::acos(q.w());
    m_axis = q.vec() / ei_sqrt(n2);
  }
  return *this;
}

/** Set \c *this from a 3x3 rotation matrix \a mat.
  */
template<typename Scalar>
template<typename Derived>
AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
{
  // Since a direct conversion would not be really faster,
  // let's use the robust Quaternion implementation:
  return *this = QuaternionType(mat);
}

/** Constructs and \returns an equivalent 3x3 rotation matrix.
  */
template<typename Scalar>
typename AngleAxis<Scalar>::Matrix3
AngleAxis<Scalar>::toRotationMatrix(void) const
{
  Matrix3 res;
  Vector3 sin_axis  = ei_sin(m_angle) * m_axis;
  Scalar c = ei_cos(m_angle);
  Vector3 cos1_axis = (Scalar(1)-c) * m_axis;

  Scalar tmp;
  tmp = cos1_axis.x() * m_axis.y();
  res.coeffRef(0,1) = tmp - sin_axis.z();
  res.coeffRef(1,0) = tmp + sin_axis.z();

  tmp = cos1_axis.x() * m_axis.z();
  res.coeffRef(0,2) = tmp + sin_axis.y();
  res.coeffRef(2,0) = tmp - sin_axis.y();

  tmp = cos1_axis.y() * m_axis.z();
  res.coeffRef(1,2) = tmp - sin_axis.x();
  res.coeffRef(2,1) = tmp + sin_axis.x();

  res.diagonal() = (cos1_axis.cwise() * m_axis).cwise() + c;

  return res;
}

/** \geometry_module
  *
  * Constructs a 3x3 rotation matrix from the angle-axis \a aa
  *
  * \sa Matrix(const Quaternion&)
  */
template<typename _Scalar, int _Rows, int _Cols, int _MaxRows, int _MaxCols, unsigned int _Flags>
Matrix<_Scalar, _Rows, _Cols, _MaxRows, _MaxCols, _Flags>::Matrix(const AngleAxis<Scalar>& aa)
{
  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,3,3);
  *this = aa.toRotationMatrix();
}

/** \geometry_module
  *
  * Set a 3x3 rotation matrix from the angle-axis \a aa
  */
template<typename _Scalar, int _Rows, int _Cols, int _MaxRows, int _MaxCols, unsigned int _Flags>
Matrix<_Scalar, _Rows, _Cols, _MaxRows, _MaxCols, _Flags>&
Matrix<_Scalar, _Rows, _Cols, _MaxRows, _MaxCols, _Flags>::operator=(const AngleAxis<Scalar>& aa)
{
  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,3,3);
  return *this = aa.toRotationMatrix();
}

#endif // EIGEN_ANGLEAXIS_H