/*=========================================================================
 *
 *  Copyright NumFOCUS
 *
 *  Licensed under the Apache License, Version 2.0 (the "License");
 *  you may not use this file except in compliance with the License.
 *  You may obtain a copy of the License at
 *
 *         https://www.apache.org/licenses/LICENSE-2.0.txt
 *
 *  Unless required by applicable law or agreed to in writing, software
 *  distributed under the License is distributed on an "AS IS" BASIS,
 *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *  See the License for the specific language governing permissions and
 *  limitations under the License.
 *
 *=========================================================================*/
#ifndef itkVersorTransformOptimizer_h
#define itkVersorTransformOptimizer_h

#include "itkRegularStepGradientDescentOptimizer.h"
#include "itkVersor.h"
#include "ITKOptimizersExport.h"

namespace itk
{
/** \class VersorTransformOptimizer
 * \brief Implement a gradient descent optimizer
 *
 * VersorTransformOptimizer is a variant of the
 * gradient descent optimizer implemented in
 * RegularStepGradientDescentOptimizer.
 *
 * Versors are not in a vector space, for that reason,
 * the classical gradient descent algorithm has to be
 * modified in order to be applicable to Versors (unit
 * quaternions) that form the group SO(3).
 *
 * The Versor space has only three degrees of freedom,
 * even though Versors are represented using four values.
 *
 * This optimizer assumes that the CostFunction to be
 * optimized has an itk::Versor as parameters.
 *
 * \sa RegularStepGradientDescentOptimizer
 * \sa Versor
 * \sa VersorTransform
 *
 * \ingroup Numerics Optimizers
 * \ingroup ITKOptimizers
 */
class ITKOptimizers_EXPORT VersorTransformOptimizer : public RegularStepGradientDescentBaseOptimizer
{
public:
  ITK_DISALLOW_COPY_AND_MOVE(VersorTransformOptimizer);

  /** Standard class type aliases. */
  using Self = VersorTransformOptimizer;
  using Superclass = RegularStepGradientDescentBaseOptimizer;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  /** Method for creation through the object factory. */
  itkNewMacro(Self);

  /** \see LightObject::GetNameOfClass() */
  itkOverrideGetNameOfClassMacro(VersorTransformOptimizer);

  /**  Versor Type  */
  using VersorType = Versor<double>;
  using VectorType = VersorType::VectorType;

  /** Advance one step following the gradient direction. */
  void
  StepAlongGradient(double factor, const DerivativeType & transformedGradient) override;

protected:
  VersorTransformOptimizer() = default;
  ~VersorTransformOptimizer() override = default;
};
} // end namespace itk

#endif
