itkVersorRigid3DTransform.h

/*=========================================================================

  Program:   Insight Segmentation & Registration Toolkit
  Module:    itkVersorRigid3DTransform.h
  Language:  C++
  Date:      $Date$
  Version:   $Revision$

  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 __itkVersorRigid3DTransform_h
#define __itkVersorRigid3DTransform_h

#include <iostream>
#include "itkVersorTransform.h"

namespace itk
{

/** \class VersorRigid3DTransform
 *
 * \brief VersorRigid3DTransform of a vector space (e.g. space coordinates)
 *
 * This transform applies a rotation and translation to the space
 * The parameters for this transform can be set either using individual Set
 * methods or in serialized form using SetParameters() and SetFixedParameters().
 *
 * The serialization of the optimizable parameters is an array of 6 elements.
 * The first 3 elements are the components of the versor representation
 * of 3D rotation. The last 3 parameters defines the translation in each
 * dimension.
 *
 * The serialization of the fixed parameters is an array of 3 elements defining
 * the center of rotation.
 *
 *
 * \ingroup Transforms
 */
template < class TScalarType=double >//Data type for scalars (float or double)
class ITK_EXPORT VersorRigid3DTransform : 
      public VersorTransform< TScalarType > 
{
public:
  /** Standard class typedefs. */
  typedef VersorRigid3DTransform            Self;
  typedef VersorTransform< TScalarType >    Superclass;
  typedef SmartPointer<Self>                Pointer;
  typedef SmartPointer<const Self>          ConstPointer;
    
  /** New macro for creation of through a Smart Pointer. */
  itkNewMacro( Self );

  /** Run-time type information (and related methods). */
  itkTypeMacro( VersorRigid3DTransform, VersorTransform );

  /** Dimension of parameters. */
  itkStaticConstMacro(SpaceDimension, unsigned int, 3);
  itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(ParametersDimension, unsigned int, 6);

  /** Parameters Type   */
  typedef typename Superclass::ParametersType         ParametersType;
  typedef typename Superclass::JacobianType           JacobianType;
  typedef typename Superclass::ScalarType             ScalarType;
  typedef typename Superclass::InputPointType         InputPointType;
  typedef typename Superclass::OutputPointType        OutputPointType;
  typedef typename Superclass::InputVectorType        InputVectorType;
  typedef typename Superclass::OutputVectorType       OutputVectorType;
  typedef typename Superclass::InputVnlVectorType     InputVnlVectorType;
  typedef typename Superclass::OutputVnlVectorType    OutputVnlVectorType;
  typedef typename Superclass::InputCovariantVectorType 
                                                      InputCovariantVectorType;
  typedef typename Superclass::OutputCovariantVectorType
                                                      OutputCovariantVectorType;
  typedef typename Superclass::MatrixType             MatrixType;
  typedef typename Superclass::InverseMatrixType      InverseMatrixType;
  typedef typename Superclass::CenterType             CenterType;
  typedef typename Superclass::OffsetType             OffsetType;
  typedef typename Superclass::TranslationType        TranslationType;

  /** Versor type. */
  typedef typename Superclass::VersorType             VersorType;
  typedef typename Superclass::AxisType               AxisType;
  typedef typename Superclass::AngleType              AngleType;
  
  typedef typename Superclass::AxisValueType          AxisValueType;
  typedef typename Superclass::TranslationValueType   TranslationValueType;
  typedef typename Superclass::ParameterValueType     ParameterValueType;

  /** Set the transformation from a container of parameters
   * This is typically used by optimizers.
   * There are 6 parameters. The first three represent the
   * versor, the last three represent the translation. */
  void SetParameters( const ParametersType & parameters );
  virtual const ParametersType& GetParameters(void) const;

  /** This method computes the Jacobian matrix of the transformation.
   * given point or vector, returning the transformed point or
   * vector. The rank of the Jacobian will also indicate if the 
   * transform is invertible at this point. */
  const JacobianType & GetJacobian(const InputPointType  &point ) const;

protected:
  VersorRigid3DTransform(unsigned int outputSpaceDim,
                         unsigned int paramDim);
  VersorRigid3DTransform(const MatrixType & matrix,
                         const OutputVectorType & offset);
  VersorRigid3DTransform();
  ~VersorRigid3DTransform(){};

  void PrintSelf(std::ostream &os, Indent indent) const;

 
private:
  VersorRigid3DTransform(const Self&); //purposely not implemented
  void operator=(const Self&); //purposely not implemented

}; //class VersorRigid3DTransform


}  // namespace itk

// Define instantiation macro for this template.
#define ITK_TEMPLATE_VersorRigid3DTransform(_, EXPORT, x, y) namespace itk { \
  _(1(class EXPORT VersorRigid3DTransform< ITK_TEMPLATE_1 x >)) \
  namespace Templates { typedef VersorRigid3DTransform< ITK_TEMPLATE_1 x > VersorRigid3DTransform##y; } \
  }

#if ITK_TEMPLATE_EXPLICIT
# include "Templates/itkVersorRigid3DTransform+-.h"
#endif

#if ITK_TEMPLATE_TXX
# include "itkVersorRigid3DTransform.txx"
#endif

#endif /* __itkVersorRigid3DTransform_h */