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 TParametersValueType=double>
class ITK_TEMPLATE_EXPORT QuaternionRigidTransform :
  public Rigid3DTransform<TParametersValueType>
{
public:
  ITK_DISALLOW_COPY_AND_ASSIGN(QuaternionRigidTransform);

  using Self = QuaternionRigidTransform;
  using Superclass = Rigid3DTransform<TParametersValueType>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkNewMacro(Self);

  itkTypeMacro(QuaternionRigidTransform, Rigid3DTransform);

  static constexpr unsigned int InputSpaceDimension = 3;
  static constexpr unsigned int OutputSpaceDimension = 3;
  static constexpr unsigned int SpaceDimension = 3;
  static constexpr unsigned int ParametersDimension = 7;

  using ParametersType = typename Superclass::ParametersType;
  using ParametersValueType = typename Superclass::ParametersValueType;
  using FixedParametersType = typename Superclass::FixedParametersType;
  using FixedParametersValueType = typename Superclass::FixedParametersValueType;
  using JacobianType = typename Superclass::JacobianType;
  using JacobianPositionType = typename Superclass::JacobianPositionType;
  using InverseJacobianPositionType = typename Superclass::InverseJacobianPositionType;
  using ScalarType = typename Superclass::ScalarType;
  using InputPointType = typename Superclass::InputPointType;
  using OutputPointType = typename Superclass::OutputPointType;
  using InputVectorType = typename Superclass::InputVectorType;
  using OutputVectorType = typename Superclass::OutputVectorType;
  using OutputVectorValueType = typename Superclass::OutputVectorValueType;
  using InputVnlVectorType = typename Superclass::InputVnlVectorType;
  using OutputVnlVectorType = typename Superclass::OutputVnlVectorType;
  using InputCovariantVectorType = typename Superclass::InputCovariantVectorType;
  using OutputCovariantVectorType = typename Superclass::OutputCovariantVectorType;
  using MatrixType = typename Superclass::MatrixType;
  using InverseMatrixType = typename Superclass::InverseMatrixType;
  using CenterType = typename Superclass::CenterType;
  using OffsetType = typename Superclass::OffsetType;
  using TranslationType = typename Superclass::TranslationType;

  using VnlQuaternionType = vnl_quaternion<TParametersValueType>;

  void SetRotation(const VnlQuaternionType & rotation);

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

  void SetIdentity() override;

  void SetParameters(const ParametersType & parameters) override;

  const ParametersType & GetParameters() const override;

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

protected:
  QuaternionRigidTransform(const MatrixType & matrix, const OutputVectorType & offset);
  QuaternionRigidTransform(unsigned int paramDims);
  QuaternionRigidTransform();
  ~QuaternionRigidTransform() override = default;

  void ComputeMatrix() override;

  void ComputeMatrixParameters() override;

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

  const InverseMatrixType & GetInverseMatrix() const;

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

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

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

#endif /* itkQuaternionRigidTransform_h */