itkVersorRigid3DTransform.h

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

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkVersorRigid3DTransform.h,v $
  Language:  C++
  Date:      $Date: 2003/02/04 05:00:06 $
  Version:   $Revision: 1.15 $

  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 __itkVersorRigid3DTransform_h
#define __itkVersorRigid3DTransform_h

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

namespace itk
{

template < class TScalarType=double >    // Data type for scalars (float or double)
class ITK_EXPORT VersorRigid3DTransform : 
            public Rigid3DTransform< TScalarType > 
{
public:
  typedef VersorRigid3DTransform Self;
  typedef Rigid3DTransform< TScalarType >   Superclass;
  typedef SmartPointer<Self>        Pointer;
  typedef SmartPointer<const Self>  ConstPointer;
    
  itkNewMacro( Self );

  itkTypeMacro( VersorRigid3DTransform, Rigid3DTransform );

  itkStaticConstMacro(SpaceDimension, unsigned int, 3);
  itkStaticConstMacro(ParametersDimension, unsigned int, 9);

  typedef typename Superclass::ScalarType  ScalarType;

  typedef typename Superclass::ParametersType  ParametersType;

  typedef typename Superclass::MatrixType      MatrixType;

  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;
  
  void SetParameters( const ParametersType & parameters );
  virtual const ParametersType& GetParameters(void) const;

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

  void SetCenter( const InputPointType & center );
  itkGetConstReferenceMacro( Center, InputPointType );
 
  void SetTranslation( const OutputVectorType & translation );
  itkGetConstReferenceMacro( Translation, OutputVectorType );
  
  const JacobianType & GetJacobian(const InputPointType  &point ) const;

protected:
  VersorRigid3DTransform();
  ~VersorRigid3DTransform(){};
  void PrintSelf(std::ostream &os, Indent indent) const;

  VersorRigid3DTransform(unsigned int outputSpaceDimension, unsigned int parametersDimension);

  void ComputeMatrixAndOffset(void);

private:
  VersorRigid3DTransform(const Self&); //purposely not implemented
  void operator=(const Self&); //purposely not implemented

  VersorType          m_Versor;

  InputPointType      m_Center;

  OutputVectorType    m_Translation;


}; //class VersorRigid3DTransform


}  // namespace itk


#ifndef ITK_MANUAL_INSTANTIATION
#include "itkVersorRigid3DTransform.txx"
#endif

#endif /* __itkVersorRigid3DTransform_h */

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