itkVersorRigid3DTransform.h

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

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkVersorRigid3DTransform.h,v $
  Language:  C++
  Date:      $Date: 2005/10/03 03:52:19 $
  Version:   $Revision: 1.24 $

  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 __itkVersorRigid3DTransform_h
#define __itkVersorRigid3DTransform_h

#include <iostream>
#include "itkVersorTransform.h"

namespace itk
{

template < class TScalarType=double >    // Data type for scalars (float or double)
class ITK_EXPORT VersorRigid3DTransform : 
      public VersorTransform< TScalarType > 
{
public:
  typedef VersorRigid3DTransform            Self;
  typedef VersorTransform< TScalarType >    Superclass;
  typedef SmartPointer<Self>                Pointer;
  typedef SmartPointer<const Self>          ConstPointer;
    
  itkNewMacro( Self );

  itkTypeMacro( VersorRigid3DTransform, VersorTransform );

  itkStaticConstMacro(SpaceDimension, unsigned int, 3);
  itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(ParametersDimension, unsigned int, 6);

  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 typename Superclass::VersorType             VersorType;
  typedef typename Superclass::AxisType               AxisType;
  typedef typename Superclass::AngleType              AngleType;
  
  void SetParameters( const ParametersType & parameters );
  virtual const ParametersType& GetParameters(void) const;

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

protected:
  VersorRigid3DTransform(unsigned int outputSpaceDim,
                         unsigned int paramDim);
  VersorRigid3DTransform(const MatrixType & matrix,
                         const OutputVectorType & offset);
  VersorRigid3DTransform();
  ~VersorRigid3DTransform(){};

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

  virtual void SetRotationMatrix(const MatrixType & matrix)
    { this->Superclass::SetRotationMatrix( matrix ); }
 
private:
  VersorRigid3DTransform(const Self&); //purposely not implemented
  void operator=(const Self&); //purposely not implemented

}; //class VersorRigid3DTransform


}  // namespace itk


#ifndef ITK_MANUAL_INSTANTIATION
#include "itkVersorRigid3DTransform.txx"
#endif

#endif /* __itkVersorRigid3DTransform_h */

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