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/*========================================================================= |
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Program: Insight Segmentation & Registration Toolkit |
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Module: $RCSfile: itkQuaternionRigidTransform.h.html,v $ |
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Language: C++ |
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Date: $Date: 2006/01/17 19:15:46 $ |
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Version: $Revision: 1.4 $ |
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Copyright (c) Insight Software Consortium. All rights reserved. |
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See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details. |
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This software is distributed WITHOUT ANY WARRANTY; without even |
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the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR |
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PURPOSE. See the above copyright notices for more information. |
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=========================================================================*/ |
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#ifndef __itkQuaternionRigidTransform_h |
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#define __itkQuaternionRigidTransform_h |
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#include <iostream> |
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#include "itkRigid3DTransform.h" |
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#include "vnl/vnl_quaternion.h" |
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namespace itk |
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{ |
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/** \brief QuaternionRigidTransform of a vector space (e.g. space coordinates). |
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* |
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* This transform applies a rotation and translation to the space |
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* |
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* \ingroup Transforms |
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*/ |
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template < class TScalarType=double > // Data type for scalars (float or double) |
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class ITK_EXPORT QuaternionRigidTransform : |
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********public Rigid3DTransform< TScalarType > |
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{ |
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public: |
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/** Standard class typedefs. */ |
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typedef QuaternionRigidTransform Self; |
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typedef Rigid3DTransform< TScalarType > Superclass; |
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typedef SmartPointer<Self> Pointer; |
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typedef SmartPointer<const Self> ConstPointer; |
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/** New macro for creation of through a Smart Pointer */ |
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itkNewMacro( Self ); |
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/** Run-time type information (and related methods). */ |
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itkTypeMacro( QuaternionRigidTransform, Rigid3DTransform ); |
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/** Dimension of parameters */ |
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itkStaticConstMacro(InputSpaceDimension, unsigned int, 3); |
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itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3); |
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itkStaticConstMacro(SpaceDimension, unsigned int, 3); |
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itkStaticConstMacro(ParametersDimension, unsigned int, 7); |
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/** Parameters Type */ |
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typedef typename Superclass::ParametersType ParametersType; |
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typedef typename Superclass::JacobianType JacobianType; |
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typedef typename Superclass::ScalarType ScalarType; |
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typedef typename Superclass::InputPointType InputPointType; |
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typedef typename Superclass::OutputPointType OutputPointType; |
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typedef typename Superclass::InputVectorType InputVectorType; |
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typedef typename Superclass::OutputVectorType OutputVectorType; |
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typedef typename Superclass::InputVnlVectorType InputVnlVectorType; |
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typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType; |
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typedef typename Superclass::InputCovariantVectorType |
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******************************************************InputCovariantVectorType; |
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typedef typename Superclass::OutputCovariantVectorType |
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******************************************************OutputCovariantVectorType; |
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typedef typename Superclass::MatrixType MatrixType; |
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typedef typename Superclass::InverseMatrixType InverseMatrixType; |
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typedef typename Superclass::CenterType CenterType; |
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typedef typename Superclass::OffsetType OffsetType; |
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typedef typename Superclass::TranslationType TranslationType; |
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/** VnlQuaternion type. */ |
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typedef vnl_quaternion<TScalarType> VnlQuaternionType; |
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/** Compute the Jacobian Matrix of the transformation at one point */ |
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/** Set the rotation of the rigid transform. |
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* This method sets the rotation of a QuaternionRigidTransform to a |
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* value specified by the user. */ |
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void SetRotation(const VnlQuaternionType &rotation); |
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/** Get the rotation from an QuaternionRigidTransform. |
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* This method returns the value of the rotation of the |
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* QuaternionRigidTransform. **/ |
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const VnlQuaternionType & GetRotation(void) const |
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{ return m_Rotation; } |
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/** Set the parameters to the IdentityTransform */ |
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virtual void SetIdentity(void); |
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/** Set the transformation from a container of parameters. |
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* This is typically used by optimizers. |
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* There are 7 parameters. The first four represents the |
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* quaternion and the last three represents the |
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* offset. */ |
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void SetParameters( const ParametersType & parameters ); |
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virtual const ParametersType & GetParameters() const; |
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/** Compute the Jacobian of the transformation. |
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* This method computes the Jacobian matrix of the transformation. |
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* given point or vector, returning the transformed point or |
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* vector. The rank of the Jacobian will also indicate if the transform |
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* is invertible at this point. */ |
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const JacobianType & GetJacobian(const InputPointType &point ) const; |
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protected: |
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QuaternionRigidTransform(const MatrixType &matrix, |
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const OutputVectorType &offset); |
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QuaternionRigidTransform(unsigned int outputDims, |
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unsigned int paramDims); |
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QuaternionRigidTransform(); |
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~QuaternionRigidTransform(){}; |
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void ComputeMatrix(); |
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void ComputeMatrixParameters(); |
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void SetVarRotation(const VnlQuaternionType & rotation) |
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{ m_Rotation = rotation; }; |
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const InverseMatrixType & GetInverseMatrix( void ) const; |
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void PrintSelf(std::ostream &os, Indent indent) const; |
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private: |
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QuaternionRigidTransform(const Self&); //purposely not implemented |
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void operator=(const Self&); //purposely not implemented |
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/** Rotation of the transformation. */ |
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VnlQuaternionType m_Rotation; |
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}; //class QuaternionRigidTransform |
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} // namespace itk |
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#ifndef ITK_MANUAL_INSTANTIATION |
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#include "itkQuaternionRigidTransform.txx" |
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#endif |
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#endif /* __itkQuaternionRigidTransform_h */ |
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