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itkQuaternionRigidTransform.h

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00001 /*========================================================================= 00002 00003 Program: Insight Segmentation & Registration Toolkit 00004 Module: $RCSfile: itkQuaternionRigidTransform.h,v $ 00005 Language: C++ 00006 Date: $Date: 2003/09/10 14:29:24 $ 00007 Version: $Revision: 1.22 $ 00008 00009 Copyright (c) Insight Software 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 #ifndef __itkQuaternionRigidTransform_h 00018 #define __itkQuaternionRigidTransform_h 00019 00020 #include <iostream> 00021 #include "itkRigid3DTransform.h" 00022 #include "vnl/vnl_quaternion.h" 00023 00024 namespace itk 00025 { 00026 00033 template < class TScalarType=double > // Data type for scalars (float or double) 00034 class ITK_EXPORT QuaternionRigidTransform : 00035 public Rigid3DTransform< TScalarType > 00036 { 00037 public: 00039 typedef QuaternionRigidTransform Self; 00040 typedef Rigid3DTransform< TScalarType > Superclass; 00041 00042 typedef SmartPointer<Self> Pointer; 00043 typedef SmartPointer<const Self> ConstPointer; 00044 00046 itkNewMacro( Self ); 00047 00049 itkTypeMacro( QuaternionRigidTransform, Rigid3DTransform ); 00050 00052 typedef typename Superclass::ScalarType ScalarType; 00053 00055 typedef typename Superclass::InputVectorType InputVectorType; 00056 typedef typename Superclass::OutputVectorType OutputVectorType; 00057 typedef typename Superclass::InputVnlVectorType InputVnlVectorType; 00058 typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType; 00059 typedef typename Superclass::InputCovariantVectorType InputCovariantVectorType; 00060 typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType; 00061 00063 typedef typename Superclass::ParametersType ParametersType; 00064 00066 typedef typename Superclass::JacobianType JacobianType; 00067 00069 typedef vnl_quaternion<TScalarType> VnlQuaternionType; 00070 00072 itkStaticConstMacro(SpaceDimension, unsigned int, 3); 00073 itkStaticConstMacro(ParametersDimension, unsigned int, 7); 00074 00076 itkStaticConstMacro(InputSpaceDimension, unsigned int, 00077 Superclass::InputSpaceDimension); 00078 itkStaticConstMacro(OutputSpaceDimension, unsigned int, 00079 Superclass::OutputSpaceDimension); 00080 00082 typedef typename Superclass::MatrixType MatrixType; 00083 00085 typedef Vector<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)> OffsetType; 00086 00088 typedef typename Superclass::InputPointType InputPointType; 00089 typedef typename Superclass::OutputPointType OutputPointType; 00090 00091 00095 const VnlQuaternionType & GetRotation(void) const 00096 { return m_Rotation; } 00097 00098 00102 void SetRotation(const VnlQuaternionType &rotation); 00103 00104 00110 void SetParameters( const ParametersType & parameters ); 00111 itkGetConstReferenceMacro(Parameters, ParametersType); 00112 00118 const JacobianType & GetJacobian(const InputPointType &point ) const; 00119 00120 protected: 00121 QuaternionRigidTransform(); 00122 ~QuaternionRigidTransform(){}; 00123 void PrintSelf(std::ostream &os, Indent indent) const; 00124 00125 private: 00126 QuaternionRigidTransform(const Self&); //purposely not implemented 00127 void operator=(const Self&); //purposely not implemented 00128 00130 VnlQuaternionType m_Rotation; 00131 00132 }; //class QuaternionRigidTransform 00133 00134 00135 } // namespace itk 00136 00137 00138 #ifndef ITK_MANUAL_INSTANTIATION 00139 #include "itkQuaternionRigidTransform.txx" 00140 #endif 00141 00142 #endif /* __itkQuaternionRigidTransform_h */

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