ITK  4.1.0
Insight Segmentation and Registration Toolkit
itkVersorTransform.h
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00001 /*=========================================================================
00002  *
00003  *  Copyright Insight Software Consortium
00004  *
00005  *  Licensed under the Apache License, Version 2.0 (the "License");
00006  *  you may not use this file except in compliance with the License.
00007  *  You may obtain a copy of the License at
00008  *
00009  *         http://www.apache.org/licenses/LICENSE-2.0.txt
00010  *
00011  *  Unless required by applicable law or agreed to in writing, software
00012  *  distributed under the License is distributed on an "AS IS" BASIS,
00013  *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00014  *  See the License for the specific language governing permissions and
00015  *  limitations under the License.
00016  *
00017  *=========================================================================*/
00018 #ifndef __itkVersorTransform_h
00019 #define __itkVersorTransform_h
00020 
00021 #include <iostream>
00022 #include "itkRigid3DTransform.h"
00023 #include "vnl/vnl_quaternion.h"
00024 
00025 namespace itk
00026 {
00046 template <class TScalarType = double>
00047 // Data type for scalars (float or double)
00048 class ITK_EXPORT VersorTransform : public Rigid3DTransform<TScalarType>
00049 {
00050 public:
00051 
00053   typedef VersorTransform               Self;
00054   typedef Rigid3DTransform<TScalarType> Superclass;
00055   typedef SmartPointer<Self>            Pointer;
00056   typedef SmartPointer<const Self>      ConstPointer;
00057 
00059   itkTypeMacro(VersorTransform, Rigid3DTransform);
00060 
00062   itkNewMacro(Self);
00063 
00065   itkStaticConstMacro(SpaceDimension, unsigned int, 3);
00066   itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
00067   itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
00068   itkStaticConstMacro(ParametersDimension, unsigned int, 3);
00070 
00072   typedef typename Superclass::ParametersType            ParametersType;
00073   typedef typename Superclass::JacobianType              JacobianType;
00074   typedef typename Superclass::ScalarType                ScalarType;
00075   typedef typename Superclass::InputPointType            InputPointType;
00076   typedef typename Superclass::OutputPointType           OutputPointType;
00077   typedef typename Superclass::InputVectorType           InputVectorType;
00078   typedef typename Superclass::OutputVectorType          OutputVectorType;
00079   typedef typename Superclass::InputVnlVectorType        InputVnlVectorType;
00080   typedef typename Superclass::OutputVnlVectorType       OutputVnlVectorType;
00081   typedef typename Superclass::InputCovariantVectorType  InputCovariantVectorType;
00082   typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType;
00083   typedef typename Superclass::MatrixType                MatrixType;
00084   typedef typename Superclass::InverseMatrixType         InverseMatrixType;
00085   typedef typename Superclass::CenterType                CenterType;
00086   typedef typename Superclass::OffsetType                OffsetType;
00087 
00089   typedef vnl_quaternion<TScalarType> VnlQuaternionType;
00090 
00092   typedef Versor<TScalarType>                VersorType;
00093   typedef typename VersorType::VectorType    AxisType;
00094   typedef typename VersorType::ValueType     AngleType;
00095   typedef typename AxisType::ValueType       AxisValueType;
00096   typedef typename ParametersType::ValueType ParameterValueType;
00097 
00106   void SetParameters(const ParametersType & parameters);
00107 
00109   const ParametersType & GetParameters(void) const;
00110 
00112   void SetRotation(const VersorType & versor);
00113 
00114   void SetRotation(const AxisType & axis, AngleType angle);
00115 
00116   itkGetConstReferenceMacro(Versor, VersorType);
00117 
00119   virtual void SetIdentity(void);
00120 
00126   virtual void ComputeJacobianWithRespectToParameters( const InputPointType  & p, JacobianType & jacobian) const;
00127 
00128 protected:
00129 
00131   VersorTransform(const MatrixType & matrix, const OutputVectorType & offset);
00132   VersorTransform(unsigned int paramDims);
00133   VersorTransform();
00135 
00137   ~VersorTransform()
00138   {
00139   }
00140 
00143   virtual void SetRotationMatrix(const MatrixType & matrix)
00144   {
00145     this->Superclass::SetRotationMatrix(matrix);
00146   }
00147 
00148   void SetVarVersor(const VersorType & newVersor)
00149   {
00150     m_Versor = newVersor;
00151   }
00152 
00154   void PrintSelf(std::ostream & os, Indent indent) const;
00155 
00158   void ComputeMatrix(void);
00159 
00160   void ComputeMatrixParameters(void);
00161 
00162 private:
00164   VersorTransform(const Self & other); // Not implemented
00165 
00167   const Self & operator=(const Self &);   // Not implemented
00168 
00170   VersorType m_Versor;
00171 }; // class VersorTransform
00172 }  // namespace itk
00173 
00174 // Define instantiation macro for this template.
00175 #define ITK_TEMPLATE_VersorTransform(_, EXPORT, TypeX, TypeY)               \
00176   namespace itk                                                             \
00177   {                                                                         \
00178   _( 1 ( class EXPORT VersorTransform<ITK_TEMPLATE_1 TypeX> ) )           \
00179   namespace Templates                                                       \
00180   {                                                                         \
00181   typedef VersorTransform<ITK_TEMPLATE_1 TypeX> VersorTransform##TypeY; \
00182   }                                                                         \
00183   }
00184 
00185 #if ITK_TEMPLATE_EXPLICIT
00186 #include "Templates/itkVersorTransform+-.h"
00187 #endif
00188 
00189 #if ITK_TEMPLATE_TXX
00190 #include "itkVersorTransform.hxx"
00191 #endif
00192 
00193 #endif /* __itkVersorTransform_h */
00194