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itkQuaternionRigidTransform.h

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00001 /*=========================================================================
00002 
00003   Program:   Insight Segmentation & Registration Toolkit
00004   Module:    $RCSfile: itkQuaternionRigidTransform.h,v $
00005   Language:  C++
00006   Date:      $Date: 2004/08/30 22:50:03 $
00007   Version:   $Revision: 1.24 $
00008 
00009   Copyright (c) Insight Software Consortium. All rights reserved.
00010   See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.
00011 
00012      This software is distributed WITHOUT ANY WARRANTY; without even 
00013      the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
00014      PURPOSE.  See the above copyright notices for more information.
00015 
00016 =========================================================================*/
00017 #ifndef __itkQuaternionRigidTransform_h
00018 #define __itkQuaternionRigidTransform_h
00019 
00020 #include <iostream>
00021 #include "itkRigid3DTransform.h"
00022 #include "vnl/vnl_quaternion.h"
00023 
00024 namespace itk
00025 {
00026 
00033 template < class TScalarType=double >    // Data type for scalars (float or double)
00034 class ITK_EXPORT QuaternionRigidTransform :
00035         public Rigid3DTransform< TScalarType > 
00036 {
00037 public:
00039   typedef QuaternionRigidTransform Self;
00040   typedef Rigid3DTransform< TScalarType >     Superclass;
00041 
00042   typedef SmartPointer<Self>        Pointer;
00043   typedef SmartPointer<const Self>  ConstPointer;
00044   
00046   itkNewMacro( Self );
00047 
00049   itkTypeMacro( QuaternionRigidTransform, Rigid3DTransform );
00050 
00052   typedef typename Superclass::ScalarType  ScalarType;
00053 
00055   typedef typename Superclass::InputVectorType    InputVectorType;
00056   typedef typename Superclass::OutputVectorType   OutputVectorType;
00057   typedef typename Superclass::InputVnlVectorType   InputVnlVectorType;
00058   typedef typename Superclass::OutputVnlVectorType   OutputVnlVectorType;
00059   typedef typename Superclass::InputCovariantVectorType InputCovariantVectorType;
00060   typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType;
00061 
00063   typedef typename Superclass::ParametersType  ParametersType;
00064   
00066   typedef typename Superclass::JacobianType  JacobianType;
00067 
00069   typedef vnl_quaternion<TScalarType>           VnlQuaternionType;
00070 
00072   itkStaticConstMacro(SpaceDimension, unsigned int, 3);
00073   itkStaticConstMacro(ParametersDimension, unsigned int, 7);
00074 
00076   itkStaticConstMacro(InputSpaceDimension, unsigned int,
00077                       Superclass::InputSpaceDimension);
00078   itkStaticConstMacro(OutputSpaceDimension, unsigned int,
00079                       Superclass::OutputSpaceDimension);
00080 
00082   typedef typename Superclass::MatrixType MatrixType;
00083 
00085   typedef Vector<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)> OffsetType;
00086 
00088   typedef typename Superclass::InputPointType    InputPointType;
00089   typedef typename Superclass::OutputPointType   OutputPointType;
00090   
00091 
00095   const VnlQuaternionType & GetRotation(void) const
00096     { return m_Rotation; }
00097 
00098 
00100   virtual void SetIdentity(void);
00101 
00106   void SetRotation(const VnlQuaternionType &rotation);
00107 
00108 
00110   void SetCenter( const InputPointType & center );
00111   itkGetConstReferenceMacro( Center, InputPointType );
00112 
00114   void SetTranslation( const OutputVectorType & translation );
00115   itkGetConstReferenceMacro( Translation, OutputVectorType );
00116   
00120   virtual void ComputeOffset(void);
00121 
00127   void SetParameters( const ParametersType & parameters );
00128   virtual const ParametersType & GetParameters() const;
00129 
00135   const JacobianType & GetJacobian(const InputPointType  &point ) const;
00136 
00138   virtual MatrixType GetInverseMatrix() const;
00139 
00140 protected:
00141   QuaternionRigidTransform();
00142   ~QuaternionRigidTransform(){};
00143   void PrintSelf(std::ostream &os, Indent indent) const;
00144 
00145 private:
00146   QuaternionRigidTransform(const Self&); //purposely not implemented
00147   void operator=(const Self&); //purposely not implemented
00148 
00150   VnlQuaternionType   m_Rotation;
00151 
00153   InputPointType      m_Center;
00154 
00156   OutputVectorType    m_Translation;
00157 
00158 
00159 }; //class QuaternionRigidTransform
00160 
00161 
00162 }  // namespace itk
00163 
00164 
00165 #ifndef ITK_MANUAL_INSTANTIATION
00166 #include "itkQuaternionRigidTransform.txx"
00167 #endif
00168 
00169 #endif /* __itkQuaternionRigidTransform_h */

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