ITK  6.0.0
Insight Toolkit
itkQuaternionRigidTransform.h
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18 #ifndef itkQuaternionRigidTransform_h
19 #define itkQuaternionRigidTransform_h
20 
21 #include <iostream>
22 #include "itkRigid3DTransform.h"
23 #include "vnl/vnl_quaternion.h"
24 
25 namespace itk
26 {
47 template <typename TParametersValueType = double>
48 class ITK_TEMPLATE_EXPORT QuaternionRigidTransform : public Rigid3DTransform<TParametersValueType>
49 {
50 public:
51  ITK_DISALLOW_COPY_AND_MOVE(QuaternionRigidTransform);
52 
58 
60  itkNewMacro(Self);
61 
63  itkOverrideGetNameOfClassMacro(QuaternionRigidTransform);
64 
66  static constexpr unsigned int InputSpaceDimension = 3;
67  static constexpr unsigned int OutputSpaceDimension = 3;
68  static constexpr unsigned int SpaceDimension = 3;
69  static constexpr unsigned int ParametersDimension = 7;
70 
72  using typename Superclass::ParametersType;
73  using typename Superclass::ParametersValueType;
74  using typename Superclass::FixedParametersType;
75  using typename Superclass::FixedParametersValueType;
76  using typename Superclass::JacobianType;
77  using typename Superclass::JacobianPositionType;
78  using typename Superclass::InverseJacobianPositionType;
79  using typename Superclass::ScalarType;
80  using typename Superclass::InputPointType;
81  using typename Superclass::OutputPointType;
82  using typename Superclass::InputVectorType;
83  using typename Superclass::OutputVectorType;
84  using typename Superclass::OutputVectorValueType;
85  using typename Superclass::InputVnlVectorType;
86  using typename Superclass::OutputVnlVectorType;
87  using typename Superclass::InputCovariantVectorType;
88  using typename Superclass::OutputCovariantVectorType;
89  using typename Superclass::MatrixType;
90  using typename Superclass::InverseMatrixType;
91  using typename Superclass::CenterType;
92  using typename Superclass::OffsetType;
93  using typename Superclass::TranslationType;
94 
96  using VnlQuaternionType = vnl_quaternion<TParametersValueType>;
97 
103  void
104  SetRotation(const VnlQuaternionType & rotation);
105 
109  const VnlQuaternionType &
110  GetRotation() const
111  {
112  return m_Rotation;
113  }
114 
116  void
117  SetIdentity() override;
118 
124  void
125  SetParameters(const ParametersType & parameters) override;
126 
127  const ParametersType &
128  GetParameters() const override;
129 
135  void
136  ComputeJacobianWithRespectToParameters(const InputPointType & p, JacobianType & jacobian) const override;
137 
138 protected:
139 #if !defined(ITK_LEGACY_REMOVE)
140  [[deprecated("Removed unused constructor")]] QuaternionRigidTransform(const MatrixType & matrix,
141  const OutputVectorType & offset);
142 #endif
143  QuaternionRigidTransform(unsigned int parametersDimension);
145  ~QuaternionRigidTransform() override = default;
146 
147  void
148  ComputeMatrix() override;
149 
150  void
151  ComputeMatrixParameters() override;
152 
153  void
155  {
156  m_Rotation = rotation;
157  }
158 
159  const InverseMatrixType &
160  GetInverseMatrix() const;
161 
162  void
163  PrintSelf(std::ostream & os, Indent indent) const override;
164 
165 private:
167  VnlQuaternionType m_Rotation{};
168 }; // class QuaternionRigidTransform
169 } // namespace itk
170 
171 #ifndef ITK_MANUAL_INSTANTIATION
172 # include "itkQuaternionRigidTransform.hxx"
173 #endif
174 
175 #endif /* itkQuaternionRigidTransform_h */
itk::Rigid3DTransform
Rigid3DTransform of a vector space (e.g. space coordinates)
Definition: itkRigid3DTransform.h:57
itk::QuaternionRigidTransform::GetRotation
const VnlQuaternionType & GetRotation() const
Definition: itkQuaternionRigidTransform.h:110
itk::SmartPointer< Self >
itk::Indent
Control indentation during Print() invocation.
Definition: itkIndent.h:49
itk::QuaternionRigidTransform::SetVarRotation
void SetVarRotation(const VnlQuaternionType &rotation)
Definition: itkQuaternionRigidTransform.h:154
itk::LightObject
Light weight base class for most itk classes.
Definition: itkLightObject.h:55
itkRigid3DTransform.h
itk
The "itk" namespace contains all Insight Segmentation and Registration Toolkit (ITK) classes....
Definition: itkAnnulusOperator.h:24
itk::QuaternionRigidTransform::VnlQuaternionType
vnl_quaternion< TParametersValueType > VnlQuaternionType
Definition: itkQuaternionRigidTransform.h:96
itk::QuaternionRigidTransform
QuaternionRigidTransform of a vector space (e.g. space coordinates).
Definition: itkQuaternionRigidTransform.h:48