/* Copyright (c) 2005 Stanford University and Christopher Bruns
 * 
 * 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.
 */

/*
 * Created on Nov 30, 2005
 * Original author: Christopher Bruns
 */
package org.simtk.geometry3d;

public class TestSuperposition {

    /**
     * @param args
     */
    public static void main(String[] args) {
        // Answer should be a 90 degree rotation about the Y axis

        Vector3D[] v1 = {
                new Vector3DClass(1, 0, 0), // x
                new Vector3DClass(0, 1, 0), // y
                new Vector3DClass(0, 0, 1) // z
                };
        
        Vector3D[] v2 = {
                new Vector3DClass(0, 0, 1), // z
                new Vector3DClass(0, 1, 0), // y
                new Vector3DClass(-1, 0, 0) // -x
                };

        HomogeneousTransform t = 
            Superposition.kabsch78(v1, v2, null);
        
        System.out.println(t);

        System.out.println(t.times(new Vector3DClass(1, 0, 0)));
        System.out.println(t.times(new Vector3DClass(0, 1, 0)));
        System.out.println(t.times(new Vector3DClass(0, 0, 1)));
        
    }

}