itkVersorTransform.h

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/*=========================================================================
 *
 *  Copyright Insight Software Consortium
 *
 *  Licensed under the Apache License, Version 2.0 (the "License");
 *  you may not use this file except in compliance with the License.
 *  You may obtain a copy of the License at
 *
 *         http://www.apache.org/licenses/LICENSE-2.0.txt
 *
 *  Unless required by applicable law or agreed to in writing, software
 *  distributed under the License is distributed on an "AS IS" BASIS,
 *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *  See the License for the specific language governing permissions and
 *  limitations under the License.
 *
 *=========================================================================*/
#ifndef __itkVersorTransform_h
#define __itkVersorTransform_h

#include <iostream>
#include "itkRigid3DTransform.h"
#include "vnl/vnl_quaternion.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);

  virtual void ComputeJacobianWithRespectToParameters( const InputPointType  & p, JacobianType & jacobian) const;

protected:

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

  ~VersorTransform()
  {
  }

#ifdef ITKV3_COMPATIBILITY

  itkLegacyMacro( virtual void SetRotationMatrix(const MatrixType & matrix) );
#endif

  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

#ifndef ITK_MANUAL_INSTANTIATION
#include "itkVersorTransform.hxx"
#endif

#endif /* __itkVersorTransform_h */