rotations.h

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/* spatial.h:  Common spatial manipulation algorithms
 * Copyright (C) 2015  Daniel Haley
 * 
 * This program is free software: 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 3 of the License, or
 * (at your option) any later version.
 * 
 * This program 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 General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
#ifndef ATOMPROBE_SPATIAL_H
#define ATOMPROBE_SPATIAL_H

#include "atomprobe/primitives/point3D.h"

#include <gsl/gsl_matrix.h>
#include <vector>

namespace AtomProbe
{

void computeRotationMatrix(const Point3D &ur1, const Point3D &ur2,
    const Point3D &r1, const Point3D &r2, gsl_matrix *m);


void computeRotationMatrix(const Point3D &ur1, const Point3D &ur2,
    const Point3D &r1, const Point3D &r2, std::vector<std:: vector<float> > &m);


unsigned int computeRotationMatrixWahba(const std::vector<Point3D> &unrotated,const std::vector<Point3D> &rotated, 
         const std::vector<float> &weights,gsl_matrix* &R);
#ifdef DEBUG

//Run internal unit tests for rotation algorithms
bool testRotationAlgorithms();
#endif

}
#endif