--- projects/lcsim/trunk/detector-framework/src/test/java/org/lcsim/detector/RotationApacheTest.java	                        (rev 0)
+++ projects/lcsim/trunk/detector-framework/src/test/java/org/lcsim/detector/RotationApacheTest.java	2014-09-26 23:52:55 UTC (rev 3348)
@@ -0,0 +1,147 @@

+package org.lcsim.detector;
+
+import junit.framework.TestCase;
+import junit.framework.TestSuite;
+
+import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder;
+import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
+
+public class RotationApacheTest extends TestCase
+{		
+    public RotationApacheTest(String name)
+    {
+        super(name);
+    }
+    
+    public static junit.framework.Test suite()
+    {
+        return new TestSuite(RotationApacheTest.class);
+    }
+    
+    protected void setUp() throws Exception
+    {}
+    
+    
+    private boolean checkRotationEquality(Rotation r1, Rotation r2 ) {
+        double mat1[][] = r1.getMatrix();
+        double mat2[][] = r2.getMatrix();
+        boolean isEqual = true;
+        double diff = 0.0;
+        for(int row=0;row<3;++row) {
+            for(int col=0;col<3;++col) {
+                diff = mat1[row][col]-mat2[row][col];
+                if(Math.abs(diff) > 0.00001) {
+                    System.out.printf("rotation matrix index row %d and col %d is not equal: %f vs %f diff %f\n",row,col,mat1[row][col],mat2[row][col],diff);
+                    isEqual = false;
+                }
+            }
+        }
+        
+        return isEqual;
+    }
+    
+    private void printMatrix(double m[][]) {
+       
+        for(int row=0;row<3;++row) {
+            System.out.printf("[ ");
+            for(int col=0;col<3;++col) {
+                System.out.printf(" %f ", m[row][col]);
+                
+            }
+            System.out.printf("]\n");
+        }
+    }
+    
+    public void testSimpleTransform()
+    {        
+        
+        Vector3D base_u = new Vector3D(1,0,0);
+        Vector3D base_v = new Vector3D(0,1,0);
+        Vector3D base_w = new Vector3D(0,0,1);
+        
+        //Rotate around w 
+        
+        double a = 0.03;
+        Rotation ra = new Rotation(base_w, a);
+        
+        //Apply rotation
+        
+        Vector3D ua = ra.applyTo(base_u);
+        Vector3D va = ra.applyTo(base_v);
+        Vector3D wa = ra.applyTo(base_w);
+
+        //Flip around the rotated axis u 
+
+        double b = Math.PI;
+        Rotation rb = new Rotation(ua, b);
+
+        //Apply rotation
+        
+        Vector3D ub = rb.applyTo(ua);
+        Vector3D vb = rb.applyTo(va);
+        Vector3D wb = rb.applyTo(wa);
+        
+        
+        
+        System.out.printf("u %s\n",base_u.toString());
+        System.out.printf("v %s\n",base_v.toString());
+        System.out.printf("w %s\n",base_w.toString());
+        
+        System.out.printf("ua %s\n",ua.toString());
+        System.out.printf("va %s\n",va.toString());
+        System.out.printf("wa %s\n",wa.toString());
+        
+        System.out.printf("ub %s\n",ub.toString());
+        System.out.printf("vb %s\n",vb.toString());
+        System.out.printf("wb %s\n",wb.toString());
+        
+        // Create rotation from unit vector combinations
+        
+        Rotation rc_uv = new Rotation(ub, vb, base_u, base_v);
+        Rotation rc_uw = new Rotation(ub, wb, base_u, base_w);
+        Rotation rc_vw = new Rotation(vb, wb, base_v, base_w);
+        
+        // Get rotation matrix
+        
+        double rc_uv_mat[][] = rc_uv.getMatrix();
+        double rc_uw_mat[][] = rc_uw.getMatrix();
+        double rc_vw_mat[][] = rc_vw.getMatrix();
+
+        System.out.printf("rc_uv_mat\n");
+        printMatrix(rc_uv_mat);
+        System.out.printf("rc_uw_mat\n");
+        printMatrix(rc_uw_mat);
+        System.out.printf("rc_vw_mat\n");
+        printMatrix(rc_vw_mat);
+        
+        // check that the matrix is the same
+        
+        boolean eq1 = checkRotationEquality(rc_uv, rc_uw);
+        boolean eq2 = checkRotationEquality(rc_uv, rc_vw);
+        boolean eq3 = checkRotationEquality(rc_uw, rc_vw);
+        
+        if(!eq1 || !eq2 || !eq3) {
+            System.out.printf("Matrices are not equal\n");
+        } else {
+            System.out.printf("Matrices are equal\n");
+        }
+        
+        // Get Cardan-angles
+        
+        double angles_rc_uv[] = rc_uv.getAngles(RotationOrder.XYZ);
+        double angles_rc_uw[] = rc_uw.getAngles(RotationOrder.XYZ);
+        double angles_rc_vw[] = rc_vw.getAngles(RotationOrder.XYZ);
+        
+        System.out.printf("angles_rc_uv (%f,%f,%f)\n",angles_rc_uv[0],angles_rc_uv[1],angles_rc_uv[2]);
+        System.out.printf("angles_rc_uw (%f,%f,%f)\n",angles_rc_uw[0],angles_rc_uw[1],angles_rc_uw[2]);
+        System.out.printf("angles_rc_vw (%f,%f,%f)\n",angles_rc_vw[0],angles_rc_vw[1],angles_rc_vw[2]);
+        
+        
+        
+        
+    }
+       
+   
+   
+}

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