itkQuaternionRigidTransform.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 __itkQuaternionRigidTransform_h
#define __itkQuaternionRigidTransform_h

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

namespace itk
{
template< typename TScalar = double >
// Data type for scalars (float or double)
class QuaternionRigidTransform :
  public Rigid3DTransform< TScalar >
{
public:
  typedef QuaternionRigidTransform    Self;
  typedef Rigid3DTransform< TScalar > Superclass;
  typedef SmartPointer< Self >        Pointer;
  typedef SmartPointer< const Self >  ConstPointer;

  itkNewMacro(Self);

  itkTypeMacro(QuaternionRigidTransform, Rigid3DTransform);

  itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(SpaceDimension, unsigned int, 3);
  itkStaticConstMacro(ParametersDimension, unsigned int, 7);

  typedef typename Superclass::ParametersType            ParametersType;
  typedef typename Superclass::ParametersValueType       ParametersValueType;
  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::OutputVectorValueType     OutputVectorValueType;
  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 typename Superclass::TranslationType           TranslationType;

  typedef vnl_quaternion<TScalar> VnlQuaternionType;

  void SetRotation(const VnlQuaternionType & rotation);

  const VnlQuaternionType & GetRotation(void) const
  {
    return m_Rotation;
  }

  virtual void SetIdentity(void);

  void SetParameters(const ParametersType & parameters);

  virtual const ParametersType & GetParameters() const;

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

protected:
  QuaternionRigidTransform(const MatrixType & matrix, const OutputVectorType & offset);
  QuaternionRigidTransform(unsigned int paramDims);
  QuaternionRigidTransform();
  ~QuaternionRigidTransform()
  {
  }

  void ComputeMatrix();

  void ComputeMatrixParameters();

  void SetVarRotation(const VnlQuaternionType & rotation)
  {
    m_Rotation = rotation;
  }

  const InverseMatrixType & GetInverseMatrix(void) const;

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

private:
  QuaternionRigidTransform(const Self &); // purposely not implemented
  void operator=(const Self &);           // purposely not implemented

  VnlQuaternionType m_Rotation;
}; // class QuaternionRigidTransform
}  // namespace itk

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

#endif /* __itkQuaternionRigidTransform_h */