itkVersorRigid3DTransform.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 itkVersorRigid3DTransform_h
#define itkVersorRigid3DTransform_h

#include <iostream>
#include "itkVersorTransform.h"

namespace itk
{
template<typename TParametersValueType=double>
class VersorRigid3DTransform :
  public VersorTransform<TParametersValueType>
{
public:
  typedef VersorRigid3DTransform                Self;
  typedef VersorTransform<TParametersValueType> Superclass;
  typedef SmartPointer<Self>                    Pointer;
  typedef SmartPointer<const Self>              ConstPointer;

  itkNewMacro(Self);

  itkTypeMacro(VersorRigid3DTransform, VersorTransform);

  itkStaticConstMacro(SpaceDimension, unsigned int, 3);
  itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(ParametersDimension, unsigned int, 6);

  typedef typename Superclass::ScalarType                ScalarType;
  typedef typename Superclass::ParametersType            ParametersType;
  typedef typename Superclass::FixedParametersType       FixedParametersType;
  typedef typename Superclass::JacobianType              JacobianType;
  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 typename Superclass::TranslationType           TranslationType;

  typedef typename Superclass::VersorType VersorType;
  typedef typename VersorType::VectorType VectorType;

  typedef typename Superclass::AxisType   AxisType;
  typedef typename Superclass::AngleType  AngleType;

  typedef typename Superclass::AxisValueType        AxisValueType;
  typedef typename Superclass::TranslationValueType TranslationValueType;
  typedef typename Superclass::ParametersValueType  ParametersValueType;

  typedef  Array<ParametersValueType>               DerivativeType;

  void SetParameters(const ParametersType & parameters) ITK_OVERRIDE;

  virtual const ParametersType & GetParameters(void) const ITK_OVERRIDE;

  virtual void UpdateTransformParameters( const DerivativeType & update, TParametersValueType factor = 1.0 ) ITK_OVERRIDE;

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

protected:
  VersorRigid3DTransform(const MatrixType & matrix, const OutputVectorType & offset);
  VersorRigid3DTransform(unsigned int paramDim);
  VersorRigid3DTransform();
  ~VersorRigid3DTransform()
  {
  }

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

private:
  VersorRigid3DTransform(const Self &) ITK_DELETE_FUNCTION;
  void operator=(const Self &) ITK_DELETE_FUNCTION;

};                                      // class VersorRigid3DTransform
}  // namespace itk

#ifndef ITK_MANUAL_INSTANTIATION
#include "itkVersorRigid3DTransform.hxx"
#endif

#endif /* itkVersorRigid3DTransform_h */