ITK  4.3.0
Insight Segmentation and Registration Toolkit
itkVersorTransform.h
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3  * Copyright Insight Software Consortium
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5  * Licensed under the Apache License, Version 2.0 (the "License");
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14  * See the License for the specific language governing permissions and
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17  *=========================================================================*/
18 #ifndef __itkVersorTransform_h
19 #define __itkVersorTransform_h
20 
21 #include <iostream>
22 #include "itkRigid3DTransform.h"
23 #include "vnl/vnl_quaternion.h"
24 
25 namespace itk
26 {
46 template <class TScalarType = double>
47 // Data type for scalars (float or double)
48 class ITK_EXPORT VersorTransform : public Rigid3DTransform<TScalarType>
49 {
50 public:
51 
57 
59  itkTypeMacro(VersorTransform, Rigid3DTransform);
60 
62  itkNewMacro(Self);
63 
65  itkStaticConstMacro(SpaceDimension, unsigned int, 3);
66  itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
67  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
68  itkStaticConstMacro(ParametersDimension, unsigned int, 3);
70 
72  typedef typename Superclass::ParametersType ParametersType;
73  typedef typename Superclass::JacobianType JacobianType;
74  typedef typename Superclass::ScalarType ScalarType;
75  typedef typename Superclass::InputPointType InputPointType;
76  typedef typename Superclass::OutputPointType OutputPointType;
77  typedef typename Superclass::InputVectorType InputVectorType;
78  typedef typename Superclass::OutputVectorType OutputVectorType;
79  typedef typename Superclass::InputVnlVectorType InputVnlVectorType;
80  typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;
81  typedef typename Superclass::InputCovariantVectorType InputCovariantVectorType;
82  typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType;
83  typedef typename Superclass::MatrixType MatrixType;
84  typedef typename Superclass::InverseMatrixType InverseMatrixType;
85  typedef typename Superclass::CenterType CenterType;
86  typedef typename Superclass::OffsetType OffsetType;
87 
89  typedef vnl_quaternion<TScalarType> VnlQuaternionType;
90 
93  typedef typename VersorType::VectorType AxisType;
94  typedef typename VersorType::ValueType AngleType;
96  typedef typename ParametersType::ValueType ParameterValueType;
97 
106  void SetParameters(const ParametersType & parameters);
107 
109  const ParametersType & GetParameters(void) const;
110 
112  void SetRotation(const VersorType & versor);
113 
114  void SetRotation(const AxisType & axis, AngleType angle);
115 
116  itkGetConstReferenceMacro(Versor, VersorType);
117 
119  virtual void SetIdentity(void);
120 
126  virtual void ComputeJacobianWithRespectToParameters( const InputPointType & p, JacobianType & jacobian) const;
127 
128 protected:
129 
131  VersorTransform(const MatrixType & matrix, const OutputVectorType & offset);
132  VersorTransform(unsigned int paramDims);
133  VersorTransform();
135 
138  {
139  }
140 
141 #ifdef ITKV3_COMPATIBILITY
142 
144  itkLegacyMacro( virtual void SetRotationMatrix(const MatrixType & matrix) );
145 #endif
146 
147  void SetVarVersor(const VersorType & newVersor)
148  {
149  m_Versor = newVersor;
150  }
151 
153  void PrintSelf(std::ostream & os, Indent indent) const;
154 
157  void ComputeMatrix(void);
158 
159  void ComputeMatrixParameters(void);
160 
161 private:
163  VersorTransform(const Self & other); // Not implemented
164 
166  const Self & operator=(const Self &); // Not implemented
167 
170 }; // class VersorTransform
171 } // namespace itk
172 
173 #ifndef ITK_MANUAL_INSTANTIATION
174 #include "itkVersorTransform.hxx"
175 #endif
176 
177 #endif /* __itkVersorTransform_h */
178