#include <itkVersorRigid3DTransformOptimizer.h>

Inheritance diagram for itk::VersorRigid3DTransformOptimizer:

Collaboration diagram for itk::VersorRigid3DTransformOptimizer:

Public Types
using	ConstPointer = SmartPointer< const Self >

using	Pointer = SmartPointer< Self >

using	Self = VersorRigid3DTransformOptimizer

using	Superclass = RegularStepGradientDescentBaseOptimizer

using	VectorType = VersorType::VectorType

using	VersorType = Versor< double >

Public Types inherited from itk::RegularStepGradientDescentBaseOptimizer
using	ConstPointer = SmartPointer< const Self >

using	Pointer = SmartPointer< Self >

using	Self = RegularStepGradientDescentBaseOptimizer

using	StopConditionEnum = RegularStepGradientDescentBaseOptimizerEnums::StopCondition

using	Superclass = SingleValuedNonLinearOptimizer

Public Types inherited from itk::SingleValuedNonLinearOptimizer
using	ConstPointer = SmartPointer< const Self >

using	CostFunctionPointer = CostFunctionType::Pointer

using	CostFunctionType = SingleValuedCostFunction

using	DerivativeType = CostFunctionType::DerivativeType

using	MeasureType = CostFunctionType::MeasureType

using	ParametersType = Superclass::ParametersType

using	Pointer = SmartPointer< Self >

using	Self = SingleValuedNonLinearOptimizer

using	Superclass = NonLinearOptimizer

Public Types inherited from itk::NonLinearOptimizer
using	ConstPointer = SmartPointer< const Self >

using	ParametersType = Superclass::ParametersType

using	Pointer = SmartPointer< Self >

using	ScalesType = Superclass::ScalesType

using	Self = NonLinearOptimizer

using	Superclass = Optimizer

Public Types inherited from itk::Optimizer
using	ConstPointer = SmartPointer< const Self >

using	ParametersType = OptimizerParameters< double >

using	Pointer = SmartPointer< Self >

using	ScalesType = Array< double >

using	Self = Optimizer

using	Superclass = Object

Public Types inherited from itk::Object
using	ConstPointer = SmartPointer< const Self >

using	Pointer = SmartPointer< Self >

using	Self = Object

using	Superclass = LightObject

Public Types inherited from itk::LightObject
using	ConstPointer = SmartPointer< const Self >

using	Pointer = SmartPointer< Self >

using	Self = LightObject

Public Member Functions
virtual const char *	GetNameOfClass () const

void	StepAlongGradient (double factor, const DerivativeType &transformedGradient) override

Public Member Functions inherited from itk::RegularStepGradientDescentBaseOptimizer
const std::string	GetStopConditionDescription () const override

void	ResumeOptimization ()

void	StartOptimization () override

void	StopOptimization ()

virtual void	SetMaximize (bool _arg)

virtual const bool &	GetMaximize () const

virtual void	MaximizeOn ()

bool	GetMinimize () const

void	SetMinimize (bool v)

void	MinimizeOn ()

void	MinimizeOff ()

virtual void	SetMaximumStepLength (double _arg)

virtual void	SetMinimumStepLength (double _arg)

virtual void	SetRelaxationFactor (double _arg)

virtual void	SetNumberOfIterations (SizeValueType _arg)

virtual void	SetGradientMagnitudeTolerance (double _arg)

virtual const double &	GetCurrentStepLength () const

virtual const double &	GetMaximumStepLength () const

virtual const double &	GetMinimumStepLength () const

virtual const double &	GetRelaxationFactor () const

virtual const SizeValueType &	GetNumberOfIterations () const

virtual const double &	GetGradientMagnitudeTolerance () const

virtual unsigned int	GetCurrentIteration () const

virtual const StopConditionEnum &	GetStopCondition () const

virtual const MeasureType &	GetValue () const

virtual const DerivativeType &	GetGradient () const

Public Member Functions inherited from itk::SingleValuedNonLinearOptimizer
virtual CostFunctionType *	GetModifiableCostFunction ()

MeasureType	GetValue (const ParametersType &parameters) const

virtual void	SetCostFunction (CostFunctionType *costFunction)

Public Member Functions inherited from itk::Optimizer
virtual const ParametersType &	GetCurrentPosition () const

virtual const ParametersType &	GetInitialPosition () const

virtual void	SetInitialPosition (const ParametersType &param)

void	SetScales (const ScalesType &scales)

virtual const ScalesType &	GetScales () const

virtual const ScalesType &	GetInverseScales () const

Public Member Functions inherited from itk::Object
unsigned long	AddObserver (const EventObject &event, Command *)

unsigned long	AddObserver (const EventObject &event, Command *) const

unsigned long	AddObserver (const EventObject &event, std::function< void(const EventObject &)> function) const

LightObject::Pointer	CreateAnother () const override

virtual void	DebugOff () const

virtual void	DebugOn () const

Command *	GetCommand (unsigned long tag)

bool	GetDebug () const

MetaDataDictionary &	GetMetaDataDictionary ()

const MetaDataDictionary &	GetMetaDataDictionary () const

virtual ModifiedTimeType	GetMTime () const

virtual const TimeStamp &	GetTimeStamp () const

bool	HasObserver (const EventObject &event) const

void	InvokeEvent (const EventObject &)

void	InvokeEvent (const EventObject &) const

virtual void	Modified () const

void	Register () const override

void	RemoveAllObservers ()

void	RemoveObserver (unsigned long tag)

void	SetDebug (bool debugFlag) const

void	SetReferenceCount (int) override

void	UnRegister () const noexcept override

void	SetMetaDataDictionary (const MetaDataDictionary &rhs)

void	SetMetaDataDictionary (MetaDataDictionary &&rrhs)

virtual void	SetObjectName (std::string _arg)

virtual const std::string &	GetObjectName () const

Public Member Functions inherited from itk::LightObject
Pointer	Clone () const

virtual void	Delete ()

virtual int	GetReferenceCount () const

void	Print (std::ostream &os, Indent indent=0) const

Static Public Member Functions
static Pointer	New ()

Static Public Member Functions inherited from itk::RegularStepGradientDescentBaseOptimizer
static Pointer	New ()

Static Public Member Functions inherited from itk::SingleValuedNonLinearOptimizer
static Pointer	New ()

Static Public Member Functions inherited from itk::NonLinearOptimizer
static Pointer	New ()

Static Public Member Functions inherited from itk::Optimizer
static Pointer	New ()

Static Public Member Functions inherited from itk::Object
static bool	GetGlobalWarningDisplay ()

static void	GlobalWarningDisplayOff ()

static void	GlobalWarningDisplayOn ()

static Pointer	New ()

static void	SetGlobalWarningDisplay (bool val)

Static Public Member Functions inherited from itk::LightObject
static void	BreakOnError ()

static Pointer	New ()

Static Public Attributes
static constexpr unsigned int	SpaceDimension = 6

Protected Member Functions
	VersorRigid3DTransformOptimizer ()=default

	~VersorRigid3DTransformOptimizer () override=default

Protected Member Functions inherited from itk::RegularStepGradientDescentBaseOptimizer
virtual void	AdvanceOneStep ()

void	PrintSelf (std::ostream &os, Indent indent) const override

	RegularStepGradientDescentBaseOptimizer ()

	~RegularStepGradientDescentBaseOptimizer () override=default

Protected Member Functions inherited from itk::SingleValuedNonLinearOptimizer
void	PrintSelf (std::ostream &os, Indent indent) const override

	SingleValuedNonLinearOptimizer ()

	~SingleValuedNonLinearOptimizer () override=default

Protected Member Functions inherited from itk::NonLinearOptimizer
	NonLinearOptimizer ()=default

	~NonLinearOptimizer () override

Protected Member Functions inherited from itk::Optimizer
	Optimizer ()

virtual void	SetCurrentPosition (const ParametersType &param)

	~Optimizer () override=default

Protected Member Functions inherited from itk::Object
	Object ()

bool	PrintObservers (std::ostream &os, Indent indent) const

virtual void	SetTimeStamp (const TimeStamp &timeStamp)

	~Object () override

Protected Member Functions inherited from itk::LightObject
virtual LightObject::Pointer	InternalClone () const

	LightObject ()

virtual void	PrintHeader (std::ostream &os, Indent indent) const

virtual void	PrintTrailer (std::ostream &os, Indent indent) const

virtual	~LightObject ()

Additional Inherited Members
Protected Attributes inherited from itk::RegularStepGradientDescentBaseOptimizer
SizeValueType	m_CurrentIteration

double	m_CurrentStepLength

DerivativeType	m_Gradient

double	m_GradientMagnitudeTolerance

bool	m_Maximize

double	m_MaximumStepLength

double	m_MinimumStepLength

SizeValueType	m_NumberOfIterations

DerivativeType	m_PreviousGradient

double	m_RelaxationFactor

bool	m_Stop { false }

StopConditionEnum	m_StopCondition

std::ostringstream	m_StopConditionDescription

MeasureType	m_Value

Protected Attributes inherited from itk::SingleValuedNonLinearOptimizer
CostFunctionPointer	m_CostFunction

Protected Attributes inherited from itk::Optimizer
ParametersType	m_CurrentPosition

bool	m_ScalesInitialized { false }

Protected Attributes inherited from itk::LightObject
std::atomic< int >	m_ReferenceCount

Detailed Description

Implement a gradient descent optimizer for the VersorRigid3DTransform parameter space.

VersorRigid3DTransformOptimizer 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 and an itk::Vector as parameters.