itkAdvancedVersorTransform.h

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/*=========================================================================
 *
 *  Copyright UMC Utrecht and contributors
 *
 *  Licensed under the Apache License, Version 2.0 (the "License");
 *  you may not use this file except in compliance with the License.
 *  You may obtain a copy of the License at
 *
 *        http://www.apache.org/licenses/LICENSE-2.0.txt
 *
 *  Unless required by applicable law or agreed to in writing, software
 *  distributed under the License is distributed on an "AS IS" BASIS,
 *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *  See the License for the specific language governing permissions and
 *  limitations under the License.
 *
 *=========================================================================*/
/*=========================================================================
 
  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkAdvancedVersorTransform.h,v $
  Date:      $Date: 2006-08-09 04:35:32 $
  Version:   $Revision: 1.17 $
 
  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 itkAdvancedVersorTransform_h
#define itkAdvancedVersorTransform_h
 
#include <iostream>
#include "itkAdvancedRigid3DTransform.h"
#include <vnl/vnl_quaternion.h>
#include "itkVersor.h"
 
namespace itk
{
 
template <class TScalarType = double>
// Data type for scalars (float or double)
class ITK_TEMPLATE_EXPORT AdvancedVersorTransform : public AdvancedRigid3DTransform<TScalarType>
{
public:
  using Self = AdvancedVersorTransform;
  using Superclass = AdvancedRigid3DTransform<TScalarType>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;
 
  itkTypeMacro(AdvancedVersorTransform, AdvancedRigid3DTransform);
 
  itkNewMacro(Self);
 
  itkStaticConstMacro(SpaceDimension, unsigned int, 3);
  itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(ParametersDimension, unsigned int, 3);
 
  using typename Superclass::ParametersType;
  using typename Superclass::NumberOfParametersType;
  using typename Superclass::JacobianType;
  using typename Superclass::ScalarType;
  using typename Superclass::InputPointType;
  using typename Superclass::OutputPointType;
  using typename Superclass::InputVectorType;
  using typename Superclass::OutputVectorType;
  using typename Superclass::InputVnlVectorType;
  using typename Superclass::OutputVnlVectorType;
  using typename Superclass::InputCovariantVectorType;
  using typename Superclass::OutputCovariantVectorType;
  using typename Superclass::MatrixType;
  using typename Superclass::InverseMatrixType;
  using typename Superclass::CenterType;
  using typename Superclass::OffsetType;
 
  using typename Superclass::NonZeroJacobianIndicesType;
  using typename Superclass::SpatialJacobianType;
  using typename Superclass::JacobianOfSpatialJacobianType;
  using typename Superclass::SpatialHessianType;
  using typename Superclass::JacobianOfSpatialHessianType;
  using typename Superclass::InternalMatrixType;
 
  using VnlQuaternionType = vnl_quaternion<TScalarType>;
 
  using VersorType = Versor<TScalarType>;
  using AxisType = typename VersorType::VectorType;
  using AngleType = typename VersorType::ValueType;
 
  void
  SetParameters(const ParametersType & parameters) override;
 
  const ParametersType &
  GetParameters() const override;
 
  void
  SetRotation(const VersorType & versor);
 
  void
  SetRotation(const AxisType & axis, AngleType angle);
 
  itkGetConstReferenceMacro(Versor, VersorType);
 
  void
  SetIdentity() override;
 
  void
  GetJacobian(const InputPointType &, JacobianType &, NonZeroJacobianIndicesType &) const override;
 
protected:
  AdvancedVersorTransform(const MatrixType & matrix, const OutputVectorType & offset);
  AdvancedVersorTransform(unsigned int paramDims);
  AdvancedVersorTransform();
 
  ~AdvancedVersorTransform() override = default;
 
  void
  SetVarVersor(const VersorType & newVersor)
  {
    m_Versor = newVersor;
  }
 
  void
  PrintSelf(std::ostream & os, Indent indent) const override;
 
  void
  ComputeMatrix() override;
 
  void
  ComputeMatrixParameters() override;
 
private:
  AdvancedVersorTransform(const Self & other); // Not implemented
 
  const Self &
  operator=(const Self &); // Not implemented
 
  VersorType m_Versor{};
};
 
// class AdvancedVersorTransform
 
} // namespace itk
 
#ifndef ITK_MANUAL_INSTANTIATION
#  include "itkAdvancedVersorTransform.hxx"
#endif
 
#endif /* itkAdvancedVersorTransform_h */