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

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

  itkTypeMacro(VersorTransform, Rigid3DTransform);

  itkNewMacro(Self);

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

  using ScalarType = typename Superclass::ScalarType;
  using ParametersType = typename Superclass::ParametersType;
  using FixedParametersType = typename Superclass::FixedParametersType;
  using JacobianType = typename Superclass::JacobianType;
  using JacobianPositionType = typename Superclass::JacobianPositionType;
  using InverseJacobianPositionType = typename Superclass::InverseJacobianPositionType;
  using InputPointType = typename Superclass::InputPointType;
  using OutputPointType = typename Superclass::OutputPointType;
  using InputVectorType = typename Superclass::InputVectorType;
  using OutputVectorType = typename Superclass::OutputVectorType;
  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 VnlQuaternionType = vnl_quaternion<TParametersValueType>;

  using VersorType = Versor<TParametersValueType>;
  using AxisType = typename VersorType::VectorType;
  using AngleType = typename VersorType::ValueType;
  using AxisValueType = typename AxisType::ValueType;
  using ParametersValueType = typename ParametersType::ValueType;

  void SetParameters(const ParametersType & parameters) override;

  const ParametersType & GetParameters() const override;

  void SetRotation(const VersorType & versor);

  void SetRotation(const AxisType & axis, AngleType angle);

  itkGetConstReferenceMacro(Versor, VersorType);

  void SetIdentity() override;

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

protected:

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

  ~VersorTransform() override = default;

  void SetVarVersor(const VersorType & newVersor)
  {
    m_Versor = newVersor;
  }

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

  void ComputeMatrix() override;

  void ComputeMatrixParameters() override;

private:
  VersorType m_Versor;
}; // class VersorTransform
}  // namespace itk

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

#endif /* itkVersorTransform_h */