itkAdvancedVersorTransform.h

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/*=========================================================================

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkAdvancedVersorTransform.h,v $
  Language:  C++
  Date:      $Date: 2006-08-09 04:35:32 $
  Version:   $Revision: 1.17 $

  Copyright (c) Insight Software Consortium. All rights reserved.
  See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.

     This software is distributed WITHOUT ANY WARRANTY; without even
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
     PURPOSE.  See the above copyright notices for more information.

=========================================================================*/
#ifndef __itkAdvancedVersorTransform_h
#define __itkAdvancedVersorTransform_h

#include <iostream>
#include "itkAdvancedRigid3DTransform.h"
#include "vnl/vnl_quaternion.h"
#include "itkVersor.h"

namespace itk
{

template< class TScalarType = double >
//Data type for scalars (float or double)
class ITK_EXPORT AdvancedVersorTransform : public AdvancedRigid3DTransform< TScalarType >
{
public:

  typedef AdvancedVersorTransform                 Self;
  typedef AdvancedRigid3DTransform< TScalarType > Superclass;
  typedef SmartPointer< Self >                    Pointer;
  typedef SmartPointer< const Self >              ConstPointer;

  itkTypeMacro( AdvancedVersorTransform, AdvancedRigid3DTransform );

  itkNewMacro( Self );

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

  typedef typename Superclass::ParametersType         ParametersType;
  typedef typename Superclass::NumberOfParametersType NumberOfParametersType;
  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::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
    ::NonZeroJacobianIndicesType NonZeroJacobianIndicesType;
  typedef typename Superclass::SpatialJacobianType SpatialJacobianType;
  typedef typename Superclass
    ::JacobianOfSpatialJacobianType JacobianOfSpatialJacobianType;
  typedef typename Superclass::SpatialHessianType SpatialHessianType;
  typedef typename Superclass
    ::JacobianOfSpatialHessianType JacobianOfSpatialHessianType;
  typedef typename Superclass::InternalMatrixType InternalMatrixType;

  typedef vnl_quaternion< TScalarType > VnlQuaternionType;

  typedef Versor< TScalarType >           VersorType;
  typedef typename VersorType::VectorType AxisType;
  typedef typename VersorType::ValueType  AngleType;

  void SetParameters( const ParametersType & parameters );

  const ParametersType & GetParameters( void ) const;

  void SetRotation( const VersorType & versor );

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

  itkGetConstReferenceMacro( Versor, VersorType );

  virtual void SetIdentity( void );

  virtual void GetJacobian(
    const InputPointType &,
    JacobianType &,
    NonZeroJacobianIndicesType & ) const;

protected:

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

  ~AdvancedVersorTransform(){}

  virtual void SetRotationMatrix( const MatrixType & matrix )
  { this->Superclass::SetRotationMatrix( matrix ); }

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

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

  void ComputeMatrix( void );

  void ComputeMatrixParameters( void );

private:

  AdvancedVersorTransform( const Self & other ); // Not implemented

  const Self & operator=( const Self & ); // Not implemented

  VersorType m_Versor;

};

//class AdvancedVersorTransform

}  // namespace itk

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

#endif /* __itkAdvancedVersorTransform_h */