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include
itkVersor.h
Go to the documentation of this file.
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/*=========================================================================
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*
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* Copyright Insight Software Consortium
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0.txt
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*=========================================================================*/
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#ifndef __itkVersor_h
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#define __itkVersor_h
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#include "
itkMatrix.h
"
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#include "vnl/vnl_quaternion.h"
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#include "vnl/vnl_vector_fixed.h"
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namespace
itk
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{
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template
<
class
T >
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class
Versor
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{
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public
:
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typedef
Versor
Self
;
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typedef
T
ValueType
;
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typedef
typename
NumericTraits< ValueType >::RealType
RealType
;
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typedef
Vector< T, 3 >
VectorType
;
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typedef
Point< T, 3 >
PointType
;
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typedef
CovariantVector< T, 3 >
CovariantVectorType
;
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typedef
vnl_vector_fixed< T, 3 >
VnlVectorType
;
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typedef
vnl_quaternion< T >
VnlQuaternionType
;
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typedef
Matrix< T, 3, 3 >
MatrixType
;
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vnl_quaternion< T >
GetVnlQuaternion
(
void
)
const
;
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void
Set
(
const
VnlQuaternionType
&);
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void
Set
(T x, T y, T z, T w);
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Versor
();
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Versor
(
const
Self
& v);
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const
Self
&
operator=
(
const
Self
& v);
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const
Self
&
operator*=
(
const
Self
& v);
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const
Self
&
operator/=
(
const
Self
& v);
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ValueType
GetTensor
(
void
)
const
;
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void
Normalize
(
void
);
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Self
GetConjugate
(
void
)
const
;
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Self
GetReciprocal
(
void
)
const
;
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Self
operator *
(
const
Self
& vec)
const
;
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Self
operator/
(
const
Self
& vec)
const
;
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bool
operator==
(
const
Self
& vec)
const
;
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bool
operator!=
(
const
Self
& vec)
const
;
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ValueType
GetScalar
(
void
)
const
;
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ValueType
GetX
(
void
)
const
{
return
m_X
; }
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ValueType
GetY
(
void
)
const
{
return
m_Y
; }
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ValueType
GetZ
(
void
)
const
{
return
m_Z
; }
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ValueType
GetW
(
void
)
const
{
return
m_W
; }
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ValueType
GetAngle
(
void
)
const
;
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VectorType
GetAxis
(
void
)
const
;
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VectorType
GetRight
(
void
)
const
;
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void
Set
(
const
VectorType
& axis,
ValueType
angle);
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void
Set
(
const
MatrixType
& m);
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void
Set
(
const
VectorType
& axis);
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void
SetRotationAroundX
(
ValueType
angle);
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void
SetRotationAroundY
(
ValueType
angle);
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void
SetRotationAroundZ
(
ValueType
angle);
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void
SetIdentity
();
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VectorType
Transform
(
const
VectorType
& v)
const
;
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CovariantVectorType
Transform
(
const
CovariantVectorType
& v)
const
;
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PointType
Transform
(
const
PointType
& v)
const
;
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VnlVectorType
Transform
(
const
VnlVectorType
& v)
const
;
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MatrixType
GetMatrix
(
void
)
const
;
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Self
SquareRoot
(
void
)
const
;
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Self
Exponential
(
ValueType
exponent)
const
;
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private
:
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ValueType
m_X
;
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ValueType
m_Y
;
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ValueType
m_Z
;
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ValueType
m_W
;
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};
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template
<
class
T >
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ITK_EXPORT std::ostream &
operator<<
(std::ostream & os,
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const
Versor< T >
& v)
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{
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os <<
"[ "
;
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os << v.
GetX
() <<
", "
<< v.
GetY
() <<
", "
;
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os << v.
GetZ
() <<
", "
<< v.
GetW
() <<
" ]"
;
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return
os;
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}
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template
<
class
T >
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ITK_EXPORT std::istream &
operator>>
(std::istream & is,
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Versor< T > & v);
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}
// end namespace itk
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#ifndef ITK_MANUAL_INSTANTIATION
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#include "itkVersor.hxx"
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#endif
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#endif
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