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/// \file BasicMathPlugin.h
///
/// \author Roger James
/// \date 13th November 2013
///
/// This file provides the common functionality for the built in
/// and SVD math plugins
#pragma once
#include "AlignmentSubsystemForMathPlugins.h"
#include "ConvexHull.h"
#include <gsl/gsl_matrix.h>
namespace INDI
{
namespace AlignmentSubsystem
{
/// \class BasicMathPlugin
/// \brief This class implements the common functionality for the built in
/// and SVD math plugins
class BasicMathPlugin : public AlignmentSubsystemForMathPlugins
{
public:
/// \brief Default constructor
BasicMathPlugin();
/// \brief Virtual destructor
virtual ~BasicMathPlugin();
/// \brief Override for the base class virtual function
virtual bool Initialise(InMemoryDatabase *pInMemoryDatabase);
/// \brief Override for the base class virtual function
virtual bool TransformCelestialToTelescope(const double RightAscension, const double Declination,
double JulianOffset,
TelescopeDirectionVector &ApparentTelescopeDirectionVector);
/// \brief Override for the base class virtual function
virtual bool TransformTelescopeToCelestial(const TelescopeDirectionVector &ApparentTelescopeDirectionVector,
double &RightAscension, double &Declination);
protected:
/// \brief Calculate transformation matrices from the supplied vectors
/// \param[in] Alpha1 Pointer to the first coordinate in the alpha reference frame
/// \param[in] Alpha2 Pointer to the second coordinate in the alpha reference frame
/// \param[in] Alpha3 Pointer to the third coordinate in the alpha reference frame
/// \param[in] Beta1 Pointer to the first coordinate in the beta reference frame
/// \param[in] Beta2 Pointer to the second coordinate in the beta reference frame
/// \param[in] Beta3 Pointer to the third coordinate in the beta reference frame
/// \param[in] pAlphaToBeta Pointer to a matrix to receive the Alpha to Beta transformation matrix
/// \param[in] pBetaToAlpha Pointer to a matrix to receive the Beta to Alpha transformation matrix
virtual void
CalculateTransformMatrices(const TelescopeDirectionVector &Alpha1, const TelescopeDirectionVector &Alpha2,
const TelescopeDirectionVector &Alpha3, const TelescopeDirectionVector &Beta1,
const TelescopeDirectionVector &Beta2, const TelescopeDirectionVector &Beta3,
gsl_matrix *pAlphaToBeta, gsl_matrix *pBetaToAlpha) = 0;
/// \brief Print out a 3 vector to debug
/// \param[in] Label A label to identify the vector
/// \param[in] pVector The vector to print
void Dump3(const char *Label, gsl_vector *pVector);
/// \brief Print out a 3x3 matrix to debug
/// \param[in] Label A label to identify the matrix
/// \param[in] pMatrix The matrix to print
void Dump3x3(const char *Label, gsl_matrix *pMatrix);
/// \brief Calculate the determinant of the supplied matrix
/// \param[in] pMatrix Pointer to the 3x3 matrix
/// \return The determinant
double Matrix3x3Determinant(gsl_matrix *pMatrix);
/// \brief Calculate the inverse of the supplied matrix
/// \param[in] pInput Pointer to the input matrix
/// \param[in] pInversion Pointer to a matrix to receive the inversion
/// \return False if input matrix is singular (not invertable) otherwise true
bool MatrixInvert3x3(gsl_matrix *pInput, gsl_matrix *pInversion);
/// \brief Multiply matrix A by matrix B and put the result in C
void MatrixMatrixMultiply(gsl_matrix *pA, gsl_matrix *pB, gsl_matrix *pC);
/// \brief Multiply matrix A by vector B and put the result in vector C
void MatrixVectorMultiply(gsl_matrix *pA, gsl_vector *pB, gsl_vector *pC);
/// \brief Test if a ray intersects a triangle in 3d space
/// \param[in] Ray The ray vector
/// \param[in] TriangleVertex1 The first vertex of the triangle
/// \param[in] TriangleVertex2 The second vertex of the triangle
/// \param[in] TriangleVertex3 The third vertex of the triangle
/// \note The order of the vertices determine whether the triangle is facing away from or towards the origin.
/// Intersection with triangles facing the origin will be ignored.
bool RayTriangleIntersection(TelescopeDirectionVector &Ray, TelescopeDirectionVector &TriangleVertex1,
TelescopeDirectionVector &TriangleVertex2, TelescopeDirectionVector &TriangleVertex3);
// Transformation matrixes for 1, 2 and 3 sync points case
gsl_matrix *pActualToApparentTransform;
gsl_matrix *pApparentToActualTransform;
// Convex hulls for 4+ sync points case
ConvexHull ActualConvexHull;
ConvexHull ApparentConvexHull;
// Actual direction cosines for the 4+ case
std::vector<TelescopeDirectionVector> ActualDirectionCosines;
};
} // namespace AlignmentSubsystem
} // namespace INDI
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