itkVersorTransform.h

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

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkVersorTransform.h,v $
  Language:  C++
  Date:      $Date: 2009-11-24 02:27:28 $
  Version:   $Revision: 1.20 $

  Copyright (c) Insight Software 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"
#include "vnl/vnl_quaternion.h"
#include "itkVersor.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;
  typedef Rigid3DTransform< TScalarType >   Superclass;
  typedef SmartPointer<Self>                Pointer;
  typedef SmartPointer<const Self>          ConstPointer;

  itkTypeMacro( VersorTransform, Rigid3DTransform );

  itkNewMacro( Self );

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

  typedef typename Superclass::ParametersType         ParametersType;
  typedef typename Superclass::JacobianType           JacobianType;
  typedef typename Superclass::ScalarType             ScalarType;
  typedef typename Superclass::InputPointType         InputPointType;
  typedef typename Superclass::OutputPointType        OutputPointType;
  typedef typename Superclass::InputVectorType        InputVectorType;
  typedef typename Superclass::OutputVectorType       OutputVectorType;
  typedef typename Superclass::InputVnlVectorType     InputVnlVectorType;
  typedef typename Superclass::OutputVnlVectorType    OutputVnlVectorType;
  typedef typename Superclass::InputCovariantVectorType 
                                                      InputCovariantVectorType;
  typedef typename Superclass::OutputCovariantVectorType
                                                      OutputCovariantVectorType;
  typedef typename Superclass::MatrixType             MatrixType;
  typedef typename Superclass::InverseMatrixType      InverseMatrixType;
  typedef typename Superclass::CenterType             CenterType;
  typedef typename Superclass::OffsetType             OffsetType;

  typedef vnl_quaternion<TScalarType>                 VnlQuaternionType;

  typedef Versor<TScalarType>                   VersorType;
  typedef typename VersorType::VectorType       AxisType;
  typedef typename VersorType::ValueType        AngleType;
  typedef typename AxisType::ValueType          AxisValueType;
  typedef typename ParametersType::ValueType    ParameterValueType;

  void SetParameters( const ParametersType & parameters );

  const ParametersType& GetParameters(void) const;

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

  virtual void SetIdentity(void);

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

protected:

  VersorTransform(const MatrixType &matrix,
                  const OutputVectorType &offset);
  VersorTransform(unsigned int outputDims,
                  unsigned int paramDims);
  VersorTransform();

  ~VersorTransform(){};

  virtual void SetRotationMatrix(const MatrixType & matrix)
    { this->Superclass::SetRotationMatrix( matrix ); }

  void SetVarVersor(const VersorType & newVersor)
    { m_Versor = newVersor; }

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

  void ComputeMatrix(void);
  void ComputeMatrixParameters(void);

private:
  VersorTransform(const Self & other); // Not implemented

  const Self & operator=( const Self & ); // Not implemented

  VersorType    m_Versor;

}; //class VersorTransform


}  // namespace itk

// Define instantiation macro for this template.
#define ITK_TEMPLATE_VersorTransform(_, EXPORT, x, y) namespace itk { \
  _(1(class EXPORT VersorTransform< ITK_TEMPLATE_1 x >)) \
  namespace Templates { typedef VersorTransform< ITK_TEMPLATE_1 x > VersorTransform##y; } \
  }

#if ITK_TEMPLATE_EXPLICIT
# include "Templates/itkVersorTransform+-.h"
#endif

#if ITK_TEMPLATE_TXX
# include "itkVersorTransform.txx"
#endif

#endif /* __itkVersorTransform_h */