itkAdvancedVersorTransform.h

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/*=========================================================================
 *
 *  Copyright UMC Utrecht and contributors
 *
 *  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.
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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 ) override;
 
  const ParametersType & GetParameters( void ) const override;
 
  void SetRotation( const VersorType & versor );
 
  void SetRotation( const AxisType & axis, AngleType angle );
 
  itkGetConstReferenceMacro( Versor, VersorType );
 
  void SetIdentity( void ) override;
 
  void GetJacobian(
    const InputPointType &,
    JacobianType &,
    NonZeroJacobianIndicesType & ) const override;
 
protected:
 
  AdvancedVersorTransform( const MatrixType & matrix,
    const OutputVectorType & offset );
  AdvancedVersorTransform( unsigned int paramDims );
  AdvancedVersorTransform();
 
  ~AdvancedVersorTransform(){}
 
  void SetRotationMatrix( const MatrixType & matrix ) override
  { this->Superclass::SetRotationMatrix( matrix ); }
 
  void SetVarVersor( const VersorType & newVersor )
  { m_Versor = newVersor; }
 
  void PrintSelf( std::ostream & os, Indent indent ) const override;
 
  void ComputeMatrix( void ) override;
 
  void ComputeMatrixParameters( void ) override;
 
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 */