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## Copyright (C) 2024 David Legland
## All rights reserved.
##
## Redistribution and use in source and binary forms, with or without
## modification, are permitted provided that the following conditions are met:
##
## 1 Redistributions of source code must retain the above copyright notice,
## this list of conditions and the following disclaimer.
## 2 Redistributions in binary form must reproduce the above copyright
## notice, this list of conditions and the following disclaimer in the
## documentation and/or other materials provided with the distribution.
##
## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ''AS IS''
## AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
## IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
## ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR
## ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
## DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
## SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
## CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
## OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
## OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
##
## The views and conclusions contained in the software and documentation are
## those of the authors and should not be interpreted as representing official
## policies, either expressed or implied, of the copyright holders.
function a = isTransform3d(trans, varargin)
%ISTRANSFORM3D Check if input is a affine transformation matrix.
%
% A = isTransform3d(TRANS) where TRANS should be a transformation matrix.
% The function accepts transformations given using the following formats:
% [a b c] , [a b c j] , or [a b c j]
% [d e f] [d e f k] [d e f k]
% [g h i] [g h i l] [g h i l]
% [0 0 0 1]
%
% If the transformation matrix should only contain rotation and
% translation without reflection, scaling, shearing, ... set 'rotation'
% to true. Default is false.
%
% Example
% rot = ...
% createRotationOx(rand*2*pi)*...
% createRotationOy(rand*2*pi)*...
% createRotationOx(rand*2*pi);
% trans = rot*createTranslation3d(rand(1,3));
% isTransform3d(trans, 'rot', true)
%
% See also
% composeTransforms3d, createBasisTransform3d, recenterTransform3d,
% transformPoint3d
% ------
% Author: oqilipo
% E-mail: N/A
% Created: 2018-07-08
% Copyright 2018-2023
narginchk(1,5)
p = inputParser;
logParValidFunc = @(x) (islogical(x) || isequal(x,1) || isequal(x,0));
addParameter(p,'rotation', 0, logParValidFunc);
valTol = @(x) validateattributes(x,{'numeric'},{'scalar', '>=',eps(class(trans)), '<=',1});
addParameter(p,'tolerance', 1e-8, valTol);
parse(p,varargin{:});
rotation = p.Results.rotation;
tolerance = p.Results.tolerance;
% eventually add null translation
if size(trans, 2) == 3
trans = [trans zeros(size(trans, 1), 1)];
elseif size(trans, 2) < 3 || size(trans, 2) > 4
a=false;
return
end
% eventually add normalization
if size(trans, 1) == 3
trans = [trans;0 0 0 1];
elseif size(trans, 1) < 3 || size(trans, 1) > 4
a=false;
return
end
a=true;
% NaN is invalid
if any(isnan(trans(:)))
a=false;
return
end
% Infinity is invalid
if any(isinf(trans(:)))
a=false;
return
end
% trans(4,4) has to be a one
if ~isequal(1, trans(4,4))
a = false;
return
end
% trans(4,1:3) have to be zeros
if ~isequal(zeros(1,3), trans(4,1:3))
a = false;
return
end
if rotation
% transpose(trans(1:3,1:3)) * trans(1:3,1:3) has to be eye(3)
if any(abs(eye(3) - (trans(1:3,1:3)'*trans(1:3,1:3))) > tolerance)
a = false;
return;
end
% determinant of trans(1:3) has to be one
if abs(1-det(trans)) > tolerance
a = false;
return
end
end
end
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