itkVersorTransform.h

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/*=========================================================================

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkVersorTransform.h,v $
  Language:  C++
  Date:      $Date: 2002/09/11 19:57:14 $
  Version:   $Revision: 1.3 $

  Copyright (c) 2002 Insight Consortium. All rights reserved.
  See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.

     This software is distributed WITHOUT ANY WARRANTY; without even 
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
     PURPOSE.  See the above copyright notices for more information.

=========================================================================*/

#ifndef __itkVersorTransform_h
#define __itkVersorTransform_h

#include <iostream>
#include "itkRigid3DTransform.h"

namespace itk
{

template < class TScalarType=double >    // Data type for scalars (float or double)
class ITK_EXPORT VersorTransform : 
            public Rigid3DTransform< TScalarType > 
{
public:

    typedef VersorTransform Self;


    itkStaticConstMacro(SpaceDimension, unsigned int, 3);
    itkStaticConstMacro(ParametersDimension, unsigned int, 3);

    typedef Rigid3DTransform< TScalarType >   Superclass;


    typedef typename Superclass::ScalarType  ScalarType;


    typedef typename Superclass::ParametersType  ParametersType;


    typedef typename Superclass::JacobianType     JacobianType;

    typedef typename Superclass::VnlQuaternionType  VnlQuaternionType;

    typedef typename Superclass::VersorType  VersorType;
    typedef typename VersorType::VectorType  AxisType;
    typedef typename VersorType::ValueType   AngleType;

    typedef typename Superclass::OffsetType  OffsetType;

    typedef typename Superclass::InputPointType   InputPointType;
    typedef typename Superclass::OutputPointType  OutputPointType;

    typedef typename Superclass::InputVectorType   InputVectorType;
    typedef typename Superclass::OutputVectorType  OutputVectorType;

    typedef typename Superclass::InputCovariantVectorType   InputCovariantVectorType;
    typedef typename Superclass::OutputCovariantVectorType  OutputCovariantVectorType;

    typedef typename Superclass::InputVnlVectorType   InputVnlVectorType;
    typedef typename Superclass::OutputVnlVectorType  OutputVnlVectorType;




    typedef SmartPointer<Self>        Pointer;
    typedef SmartPointer<const Self>  ConstPointer;


    itkTypeMacro( VersorTransform, Rigid3DTransform );


    itkNewMacro( Self );


    void SetParameters( const ParametersType & parameters );


    void SetRotation( const VersorType & versor );
    void SetRotation( const AxisType & axis, AngleType angle );


    const JacobianType & GetJacobian(const InputPointType  &point ) const;


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

 protected:
    VersorTransform();

    VersorTransform(const Self & other);

    ~VersorTransform(){};


    const Self & operator=( const Self & );


    void ComputeMatrix(void);

private:

    VersorType    m_Versor;

}; //class VersorTransform


}  // namespace itk


#ifndef ITK_MANUAL_INSTANTIATION
#include "itkVersorTransform.txx"
#endif

#endif /* __itkVersorTransform_h */

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