# This file is part of the SpatialMath toolbox for Python
# https://github.com/petercorke/spatialmath-python
#
# MIT License
#
# Copyright (c) 1993-2020 Peter Corke
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.

# Contributors:
#
#     1. Luis Fernando Lara Tobar and Peter Corke, 2008
#     2. Josh Carrigg Hodson, Aditya Dua, Chee Ho Chan, 2017 (robopy)
#     3. Peter Corke, 2020

import numpy.testing as nt
import unittest

from spatialmath.base.vectors import *
import spatialmath.base as tr
from spatialmath.base.quaternions import *


class TestQuaternion(unittest.TestCase):

    def test_ops(self):
        nt.assert_array_almost_equal(eye(), np.r_[1, 0, 0, 0])

        nt.assert_array_almost_equal(pure(np.r_[1, 2, 3]), np.r_[0, 1, 2, 3])
        nt.assert_array_almost_equal(pure([1, 2, 3]), np.r_[0, 1, 2, 3])
        nt.assert_array_almost_equal(pure((1, 2, 3)), np.r_[0, 1, 2, 3])

        nt.assert_equal(qnorm(np.r_[1, 2, 3, 4]), math.sqrt(30))
        nt.assert_equal(qnorm([1, 2, 3, 4]), math.sqrt(30))
        nt.assert_equal(qnorm((1, 2, 3, 4)), math.sqrt(30))

        nt.assert_array_almost_equal(unit(np.r_[1, 2, 3, 4]), np.r_[1, 2, 3, 4] / math.sqrt(30))
        nt.assert_array_almost_equal(unit([1, 2, 3, 4]), np.r_[1, 2, 3, 4] / math.sqrt(30))

        nt.assert_array_almost_equal(qqmul(np.r_[1, 2, 3, 4], np.r_[5, 6, 7, 8]), np.r_[-60, 12, 30, 24])
        nt.assert_array_almost_equal(qqmul([1, 2, 3, 4], [5, 6, 7, 8]), np.r_[-60, 12, 30, 24])
        nt.assert_array_almost_equal(qqmul(np.r_[1, 2, 3, 4], np.r_[1, 2, 3, 4]), np.r_[-28, 4, 6, 8])

        nt.assert_array_almost_equal(matrix(np.r_[1, 2, 3, 4])@np.r_[5, 6, 7, 8], np.r_[-60, 12, 30, 24])
        nt.assert_array_almost_equal(matrix([1, 2, 3, 4])@np.r_[5, 6, 7, 8], np.r_[-60, 12, 30, 24])
        nt.assert_array_almost_equal(matrix(np.r_[1, 2, 3, 4])@np.r_[1, 2, 3, 4], np.r_[-28, 4, 6, 8])

        nt.assert_array_almost_equal(qpow(np.r_[1, 2, 3, 4], 0), np.r_[1, 0, 0, 0])
        nt.assert_array_almost_equal(qpow(np.r_[1, 2, 3, 4], 1), np.r_[1, 2, 3, 4])
        nt.assert_array_almost_equal(qpow([1, 2, 3, 4], 1), np.r_[1, 2, 3, 4])
        nt.assert_array_almost_equal(qpow(np.r_[1, 2, 3, 4], 2), np.r_[-28, 4, 6, 8])
        nt.assert_array_almost_equal(qpow(np.r_[1, 2, 3, 4], -1), np.r_[1, -2, -3, -4])
        nt.assert_array_almost_equal(qpow(np.r_[1, 2, 3, 4], -2), np.r_[-28, -4, -6, -8])

        nt.assert_equal(isequal(np.r_[1, 2, 3, 4], np.r_[1, 2, 3, 4]), True)
        nt.assert_equal(isequal(np.r_[1, 2, 3, 4], np.r_[5, 6, 7, 8]), False)
        nt.assert_equal(isequal(np.r_[1, 1, 0, 0] / math.sqrt(2), np.r_[-1, -1, 0, 0] / math.sqrt(2), unitq=True), True)

        s = qprint(np.r_[1, 1, 0, 0], file=None)
        nt.assert_equal(isinstance(s, str), True)
        nt.assert_equal(len(s) > 2, True)
        s = qprint([1, 1, 0, 0], file=None)
        nt.assert_equal(isinstance(s, str), True)
        nt.assert_equal(len(s) > 2, True)

        nt.assert_equal(qprint([1, 2, 3, 4], file=None), " 1.0000 <  2.0000,  3.0000,  4.0000 >")

        nt.assert_equal(isunitvec(rand()), True)

    def test_rotation(self):
        # rotation matrix to quaternion
        nt.assert_array_almost_equal(r2q(tr.rotx(180, 'deg')), np.r_[0, 1, 0, 0])
        nt.assert_array_almost_equal(r2q(tr.roty(180, 'deg')), np.r_[0, 0, 1, 0])
        nt.assert_array_almost_equal(r2q(tr.rotz(180, 'deg')), np.r_[0, 0, 0, 1])

        # quaternion to rotation matrix
        nt.assert_array_almost_equal(q2r(np.r_[0, 1, 0, 0]), tr.rotx(180, 'deg'))
        nt.assert_array_almost_equal(q2r(np.r_[0, 0, 1, 0]), tr.roty(180, 'deg'))
        nt.assert_array_almost_equal(q2r(np.r_[0, 0, 0, 1]), tr.rotz(180, 'deg'))

        nt.assert_array_almost_equal(q2r([0, 1, 0, 0]), tr.rotx(180, 'deg'))
        nt.assert_array_almost_equal(q2r([0, 0, 1, 0]), tr.roty(180, 'deg'))
        nt.assert_array_almost_equal(q2r([0, 0, 0, 1]), tr.rotz(180, 'deg'))

        # quaternion - vector product
        nt.assert_array_almost_equal(qvmul(np.r_[0, 1, 0, 0], np.r_[0, 0, 1]), np.r_[0, 0, -1])
        nt.assert_array_almost_equal(qvmul([0, 1, 0, 0], [0, 0, 1]), np.r_[0, 0, -1])

    def test_slerp(self):
        q1 = np.r_[0, 1, 0, 0]
        q2 = np.r_[0, 0, 1, 0]

        nt.assert_array_almost_equal(slerp(q1, q2, 0), q1)
        nt.assert_array_almost_equal(slerp(q1, q2, 1), q2)
        nt.assert_array_almost_equal(slerp(q1, q2, 0.5), np.r_[0, 1, 1, 0] / math.sqrt(2))

        q1 = [0, 1, 0, 0]
        q2 = [0, 0, 1, 0]

        nt.assert_array_almost_equal(slerp(q1, q2, 0), q1)
        nt.assert_array_almost_equal(slerp(q1, q2, 1), q2)
        nt.assert_array_almost_equal(slerp(q1, q2, 0.5), np.r_[0, 1, 1, 0] / math.sqrt(2))

        nt.assert_array_almost_equal(slerp(r2q(tr.rotx(-0.3)), r2q(tr.rotx(0.3)), 0.5), np.r_[1, 0, 0, 0])
        nt.assert_array_almost_equal(slerp(r2q(tr.roty(0.3)), r2q(tr.roty(0.5)), 0.5), r2q(tr.roty(0.4)))

    def test_rotx(self):
        pass


if __name__ == '__main__':
    unittest.main()
