itkQuaternionRigidTransform.h

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

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkQuaternionRigidTransform.h,v $
  Language:  C++
  Date:      $Date: 2005/05/03 14:19:23 $
  Version:   $Revision: 1.27 $

  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 __itkQuaternionRigidTransform_h
#define __itkQuaternionRigidTransform_h

#include <iostream>
#include "itkRigid3DTransform.h"
#include "vnl/vnl_quaternion.h"

namespace itk
{

template < class TScalarType=double >    // Data type for scalars (float or double)
class ITK_EXPORT QuaternionRigidTransform :
        public Rigid3DTransform< TScalarType > 
{
public:
  typedef QuaternionRigidTransform            Self;
  typedef Rigid3DTransform< TScalarType >     Superclass;
  typedef SmartPointer<Self>                  Pointer;
  typedef SmartPointer<const Self>            ConstPointer;
  
  itkNewMacro( Self );

  itkTypeMacro( QuaternionRigidTransform, Rigid3DTransform );

  itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(SpaceDimension, unsigned int, 3);
  itkStaticConstMacro(ParametersDimension, unsigned int, 7);

  typedef typename Superclass::ParametersType         ParametersType;
  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::TranslationType        TranslationType;


  typedef vnl_quaternion<TScalarType>           VnlQuaternionType;

  void SetRotation(const VnlQuaternionType &rotation);

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

  virtual void SetIdentity(void);

  void SetParameters( const ParametersType & parameters );
  virtual const ParametersType & GetParameters() const;

  const JacobianType & GetJacobian(const InputPointType  &point ) const;

protected:
  QuaternionRigidTransform(const MatrixType &matrix,
                           const OutputVectorType &offset);
  QuaternionRigidTransform(unsigned int outputDims,
                           unsigned int paramDims);
  QuaternionRigidTransform();
  ~QuaternionRigidTransform(){};

  void ComputeMatrix();

  void ComputeMatrixParameters();

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

  const InverseMatrixType & GetInverseMatrix( void ) const;

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

private:
  QuaternionRigidTransform(const Self&); //purposely not implemented
  void operator=(const Self&); //purposely not implemented

  VnlQuaternionType   m_Rotation;

}; //class QuaternionRigidTransform


}  // namespace itk


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

#endif /* __itkQuaternionRigidTransform_h */

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