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itkVersorTransform.h

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00001 /*=========================================================================
00002 
00003   Program:   Insight Segmentation & Registration Toolkit
00004   Module:    $RCSfile: itkVersorTransform.h,v $
00005   Language:  C++
00006   Date:      $Date: 2002/09/11 19:57:14 $
00007   Version:   $Revision: 1.3 $
00008 
00009   Copyright (c) 2002 Insight Consortium. All rights reserved.
00010   See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.
00011 
00012      This software is distributed WITHOUT ANY WARRANTY; without even 
00013      the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
00014      PURPOSE.  See the above copyright notices for more information.
00015 
00016 =========================================================================*/
00017 
00018 #ifndef __itkVersorTransform_h
00019 #define __itkVersorTransform_h
00020 
00021 #include <iostream>
00022 #include "itkRigid3DTransform.h"
00023 
00024 namespace itk
00025 {
00026 
00036 template < class TScalarType=double >    // Data type for scalars (float or double)
00037 class ITK_EXPORT VersorTransform : 
00038             public Rigid3DTransform< TScalarType > 
00039 {
00040 public:
00041 
00045     typedef VersorTransform Self;
00046 
00047 
00049     itkStaticConstMacro(SpaceDimension, unsigned int, 3);
00050     itkStaticConstMacro(ParametersDimension, unsigned int, 3);
00051 
00055     typedef Rigid3DTransform< TScalarType >   Superclass;
00056 
00057 
00061     typedef typename Superclass::ScalarType  ScalarType;
00062 
00063 
00067     typedef typename Superclass::ParametersType  ParametersType;
00068 
00069 
00073     typedef typename Superclass::JacobianType     JacobianType;
00074 
00078     typedef typename Superclass::VnlQuaternionType  VnlQuaternionType;
00079 
00083     typedef typename Superclass::VersorType  VersorType;
00084     typedef typename VersorType::VectorType  AxisType;
00085     typedef typename VersorType::ValueType   AngleType;
00086 
00090     typedef typename Superclass::OffsetType  OffsetType;
00091 
00095     typedef typename Superclass::InputPointType   InputPointType;
00096     typedef typename Superclass::OutputPointType  OutputPointType;
00097 
00101     typedef typename Superclass::InputVectorType   InputVectorType;
00102     typedef typename Superclass::OutputVectorType  OutputVectorType;
00103 
00107     typedef typename Superclass::InputCovariantVectorType   InputCovariantVectorType;
00108     typedef typename Superclass::OutputCovariantVectorType  OutputCovariantVectorType;
00109 
00113     typedef typename Superclass::InputVnlVectorType   InputVnlVectorType;
00114     typedef typename Superclass::OutputVnlVectorType  OutputVnlVectorType;
00115 
00116 
00117 
00118 
00122     typedef SmartPointer<Self>        Pointer;
00123     typedef SmartPointer<const Self>  ConstPointer;
00124 
00125 
00129     itkTypeMacro( VersorTransform, Rigid3DTransform );
00130 
00131 
00135     itkNewMacro( Self );
00136 
00137 
00146     void SetParameters( const ParametersType & parameters );
00147 
00148 
00152     void SetRotation( const VersorType & versor );
00153     void SetRotation( const AxisType & axis, AngleType angle );
00154 
00155 
00164     const JacobianType & GetJacobian(const InputPointType  &point ) const;
00165 
00166 
00170     void PrintSelf(std::ostream &os, Indent indent) const;
00171 
00172  protected:
00177     VersorTransform();
00178 
00185     VersorTransform(const Self & other);
00186 
00190     ~VersorTransform(){};
00191 
00192 
00196     const Self & operator=( const Self & );
00197 
00198 
00203     void ComputeMatrix(void);
00204 
00205 private:
00206 
00210     VersorType    m_Versor;
00211 
00212 }; //class VersorTransform
00213 
00214 
00215 }  // namespace itk
00216 
00217 
00218 #ifndef ITK_MANUAL_INSTANTIATION
00219 #include "itkVersorTransform.txx"
00220 #endif
00221 
00222 #endif /* __itkVersorTransform_h */

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