itkVersorTransform.h

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

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkVersorTransform.h,v $
  Language:  C++
  Date:      $Date: 2005/09/25 17:25:57 $
  Version:   $Revision: 1.12 $

  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 __itkVersorTransform_h
#define __itkVersorTransform_h

#include <iostream>
#include "itkRigid3DTransform.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 VersorTransform : 
  public Rigid3DTransform< TScalarType > 
{
public:

    typedef VersorTransform                   Self;
    typedef Rigid3DTransform< TScalarType >   Superclass;
    typedef SmartPointer<Self>                Pointer;
    typedef SmartPointer<const Self>          ConstPointer;

    itkTypeMacro( VersorTransform, Rigid3DTransform );

    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::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 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);

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

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

    ~VersorTransform(){};

    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:
    VersorTransform(const Self & other); // Not implemented

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

    VersorType    m_Versor;

}; //class VersorTransform


}  // namespace itk


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

#endif /* __itkVersorTransform_h */

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