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00018 #ifndef __itkVersorTransform_h
00019 #define __itkVersorTransform_h
00020
00021 #include <iostream>
00022 #include "itkRigid3DTransform.h"
00023
00024 namespace itk
00025 {
00026
00036 template < class TScalarType=double >
00037 class ITK_EXPORT VersorTransform :
00038 public Rigid3DTransform< TScalarType >
00039 {
00040 public:
00041
00045 typedef VersorTransform Self;
00046
00047
00049 itkStaticConstMacro(SpaceDimension, unsigned int, 3);
00050 itkStaticConstMacro(ParametersDimension, unsigned int, 3);
00051
00055 typedef Rigid3DTransform< TScalarType > Superclass;
00056
00057
00061 typedef typename Superclass::ScalarType ScalarType;
00062
00063
00067 typedef typename Superclass::ParametersType ParametersType;
00068
00069
00073 typedef typename Superclass::JacobianType JacobianType;
00074
00078 typedef typename Superclass::VnlQuaternionType VnlQuaternionType;
00079
00083 typedef typename Superclass::VersorType VersorType;
00084 typedef typename VersorType::VectorType AxisType;
00085 typedef typename VersorType::ValueType AngleType;
00086
00090 typedef typename Superclass::OffsetType OffsetType;
00091
00095 typedef typename Superclass::InputPointType InputPointType;
00096 typedef typename Superclass::OutputPointType OutputPointType;
00097
00101 typedef typename Superclass::InputVectorType InputVectorType;
00102 typedef typename Superclass::OutputVectorType OutputVectorType;
00103
00107 typedef typename Superclass::InputCovariantVectorType InputCovariantVectorType;
00108 typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType;
00109
00113 typedef typename Superclass::InputVnlVectorType InputVnlVectorType;
00114 typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;
00115
00116
00117
00118
00122 typedef SmartPointer<Self> Pointer;
00123 typedef SmartPointer<const Self> ConstPointer;
00124
00125
00129 itkTypeMacro( VersorTransform, Rigid3DTransform );
00130
00131
00135 itkNewMacro( Self );
00136
00137
00148 void SetParameters( const ParametersType & parameters );
00149
00150
00154 void SetRotation( const VersorType & versor );
00155 void SetRotation( const AxisType & axis, AngleType angle );
00156
00157
00166 const JacobianType & GetJacobian(const InputPointType &point ) const;
00167
00168
00169
00170 protected:
00174 void PrintSelf(std::ostream &os, Indent indent) const;
00179 VersorTransform();
00180
00187 VersorTransform(const Self & other);
00188
00192 ~VersorTransform(){};
00193
00194
00198 const Self & operator=( const Self & );
00199
00200
00205 void ComputeMatrix(void);
00206
00207 private:
00208
00212 VersorType m_Versor;
00213
00214 };
00215
00216
00217 }
00218
00219
00220 #ifndef ITK_MANUAL_INSTANTIATION
00221 #include "itkVersorTransform.txx"
00222 #endif
00223
00224 #endif