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00018 #ifndef __itkVersorRigid3DTransform_h
00019 #define __itkVersorRigid3DTransform_h
00020
00021 #include <iostream>
00022 #include "itkVersorTransform.h"
00023
00024 namespace itk
00025 {
00026
00035 template < class TScalarType=double >
00036 class ITK_EXPORT VersorRigid3DTransform :
00037 public VersorTransform< TScalarType >
00038 {
00039 public:
00041 typedef VersorRigid3DTransform Self;
00042 typedef VersorTransform< TScalarType > Superclass;
00043 typedef SmartPointer<Self> Pointer;
00044 typedef SmartPointer<const Self> ConstPointer;
00045
00047 itkNewMacro( Self );
00048
00050 itkTypeMacro( VersorRigid3DTransform, VersorTransform );
00051
00053 itkStaticConstMacro(SpaceDimension, unsigned int, 3);
00054 itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
00055 itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
00056 itkStaticConstMacro(ParametersDimension, unsigned int, 6);
00058
00060 typedef typename Superclass::ParametersType ParametersType;
00061 typedef typename Superclass::JacobianType JacobianType;
00062 typedef typename Superclass::ScalarType ScalarType;
00063 typedef typename Superclass::InputPointType InputPointType;
00064 typedef typename Superclass::OutputPointType OutputPointType;
00065 typedef typename Superclass::InputVectorType InputVectorType;
00066 typedef typename Superclass::OutputVectorType OutputVectorType;
00067 typedef typename Superclass::InputVnlVectorType InputVnlVectorType;
00068 typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;
00069 typedef typename Superclass::InputCovariantVectorType
00070 InputCovariantVectorType;
00071 typedef typename Superclass::OutputCovariantVectorType
00072 OutputCovariantVectorType;
00073 typedef typename Superclass::MatrixType MatrixType;
00074 typedef typename Superclass::InverseMatrixType InverseMatrixType;
00075 typedef typename Superclass::CenterType CenterType;
00076 typedef typename Superclass::OffsetType OffsetType;
00077 typedef typename Superclass::TranslationType TranslationType;
00078
00080 typedef typename Superclass::VersorType VersorType;
00081 typedef typename Superclass::AxisType AxisType;
00082 typedef typename Superclass::AngleType AngleType;
00083
00088 void SetParameters( const ParametersType & parameters );
00089 virtual const ParametersType& GetParameters(void) const;
00091
00096 const JacobianType & GetJacobian(const InputPointType &point ) const;
00097
00098 protected:
00099 VersorRigid3DTransform(unsigned int outputSpaceDim,
00100 unsigned int paramDim);
00101 VersorRigid3DTransform(const MatrixType & matrix,
00102 const OutputVectorType & offset);
00103 VersorRigid3DTransform();
00104 ~VersorRigid3DTransform(){};
00105
00106 void PrintSelf(std::ostream &os, Indent indent) const;
00107
00110 virtual void SetRotationMatrix(const MatrixType & matrix)
00111 { this->Superclass::SetRotationMatrix( matrix ); }
00112
00113 private:
00114 VersorRigid3DTransform(const Self&);
00115 void operator=(const Self&);
00116
00117 };
00118
00119
00120 }
00121
00122
00123 #ifndef ITK_MANUAL_INSTANTIATION
00124 #include "itkVersorRigid3DTransform.txx"
00125 #endif
00126
00127 #endif
00128