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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: 2003/10/30 21:46:24 $ 00007 Version: $Revision: 1.23 $ 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 00100 virtual void SetIdentity(void); 00101 00106 void SetRotation(const VnlQuaternionType &rotation); 00107 00108 00110 void SetCenter( const InputPointType & center ); 00111 itkGetConstReferenceMacro( Center, InputPointType ); 00112 00114 void SetTranslation( const OutputVectorType & translation ); 00115 itkGetConstReferenceMacro( Translation, OutputVectorType ); 00116 00120 virtual void ComputeOffset(void); 00121 00127 void SetParameters( const ParametersType & parameters ); 00128 virtual const ParametersType & GetParameters() const; 00129 00135 const JacobianType & GetJacobian(const InputPointType &point ) const; 00136 00137 protected: 00138 QuaternionRigidTransform(); 00139 ~QuaternionRigidTransform(){}; 00140 void PrintSelf(std::ostream &os, Indent indent) const; 00141 00142 private: 00143 QuaternionRigidTransform(const Self&); //purposely not implemented 00144 void operator=(const Self&); //purposely not implemented 00145 00147 VnlQuaternionType m_Rotation; 00148 00150 InputPointType m_Center; 00151 00153 OutputVectorType m_Translation; 00154 00155 00156 }; //class QuaternionRigidTransform 00157 00158 00159 } // namespace itk 00160 00161 00162 #ifndef ITK_MANUAL_INSTANTIATION 00163 #include "itkQuaternionRigidTransform.txx" 00164 #endif 00165 00166 #endif /* __itkQuaternionRigidTransform_h */

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