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00018 #ifndef __itkVersorRigid3DTransform_h
00019 #define __itkVersorRigid3DTransform_h
00020
00021 #include <iostream>
00022 #include "itkRigid3DTransform.h"
00023
00024 namespace itk
00025 {
00026
00033 template < class TScalarType=double >
00034 class ITK_EXPORT VersorRigid3DTransform :
00035 public Rigid3DTransform< TScalarType >
00036 {
00037 public:
00039 typedef VersorRigid3DTransform Self;
00040 typedef Rigid3DTransform< TScalarType > Superclass;
00041 typedef SmartPointer<Self> Pointer;
00042 typedef SmartPointer<const Self> ConstPointer;
00043
00045 itkNewMacro( Self );
00046
00048 itkTypeMacro( VersorRigid3DTransform, Rigid3DTransform );
00049
00051 itkStaticConstMacro(SpaceDimension, unsigned int, 3);
00052 itkStaticConstMacro(ParametersDimension, unsigned int, 6);
00053
00055 typedef typename Superclass::ScalarType ScalarType;
00056
00058 typedef typename Superclass::ParametersType ParametersType;
00059
00061 typedef typename Superclass::MatrixType MatrixType;
00062
00064 typedef typename Superclass::JacobianType JacobianType;
00065
00067 typedef typename Superclass::VnlQuaternionType VnlQuaternionType;
00068
00070 typedef typename Superclass::VersorType VersorType;
00071 typedef typename VersorType::VectorType AxisType;
00072 typedef typename VersorType::ValueType AngleType;
00073
00075 typedef typename Superclass::OffsetType OffsetType;
00076
00078 typedef typename Superclass::InputPointType InputPointType;
00079 typedef typename Superclass::OutputPointType OutputPointType;
00080
00082 typedef typename Superclass::InputVectorType InputVectorType;
00083 typedef typename Superclass::OutputVectorType OutputVectorType;
00084
00086 typedef typename Superclass::InputCovariantVectorType InputCovariantVectorType;
00087 typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType;
00088
00090 typedef typename Superclass::InputVnlVectorType InputVnlVectorType;
00091 typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;
00092
00097 void SetParameters( const ParametersType & parameters );
00098 virtual const ParametersType& GetParameters(void) const;
00099
00101 void SetRotation( const VersorType & versor );
00102 void SetRotation( const AxisType & axis, AngleType angle );
00103 itkGetConstReferenceMacro(Versor, VersorType);
00104
00106 void SetCenter( const InputPointType & center );
00107 itkGetConstReferenceMacro( Center, InputPointType );
00108
00110 void SetTranslation( const OutputVectorType & translation );
00111 itkGetConstReferenceMacro( Translation, OutputVectorType );
00112
00114 virtual void SetIdentity(void);
00115
00120 const JacobianType & GetJacobian(const InputPointType &point ) const;
00121
00122 protected:
00123 VersorRigid3DTransform();
00124 ~VersorRigid3DTransform(){};
00125 void PrintSelf(std::ostream &os, Indent indent) const;
00126
00127 VersorRigid3DTransform(unsigned int outputSpaceDimension,
00128 unsigned int parametersDimension);
00129
00131 void ComputeMatrixAndOffset(void);
00132
00133 private:
00134 VersorRigid3DTransform(const Self&);
00135 void operator=(const Self&);
00136
00138 VersorType m_Versor;
00139
00141 InputPointType m_Center;
00142
00144 OutputVectorType m_Translation;
00145
00146
00147 };
00148
00149
00150 }
00151
00152
00153 #ifndef ITK_MANUAL_INSTANTIATION
00154 #include "itkVersorRigid3DTransform.txx"
00155 #endif
00156
00157 #endif