itkQuaternionRigidTransform.h

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/*=========================================================================
 *
 *  Copyright NumFOCUS
 *
 *  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
 *
 *         https://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.
 *
 *=========================================================================*/
#ifndef itkQuaternionRigidTransform_h
#define itkQuaternionRigidTransform_h
 
#include <iostream>
#include "itkRigid3DTransform.h"
#include "vnl/vnl_quaternion.h"
 
namespace itk
{
template <typename TParametersValueType = double>
class ITK_TEMPLATE_EXPORT QuaternionRigidTransform : public Rigid3DTransform<TParametersValueType>
{
public:
  ITK_DISALLOW_COPY_AND_MOVE(QuaternionRigidTransform);

  using Self = QuaternionRigidTransform;
  using Superclass = Rigid3DTransform<TParametersValueType>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkNewMacro(Self);

  itkOverrideGetNameOfClassMacro(QuaternionRigidTransform);

  static constexpr unsigned int InputSpaceDimension = 3;
  static constexpr unsigned int OutputSpaceDimension = 3;
  static constexpr unsigned int SpaceDimension = 3;
  static constexpr unsigned int ParametersDimension = 7;

  using typename Superclass::ParametersType;
  using typename Superclass::ParametersValueType;
  using typename Superclass::FixedParametersType;
  using typename Superclass::FixedParametersValueType;
  using typename Superclass::JacobianType;
  using typename Superclass::JacobianPositionType;
  using typename Superclass::InverseJacobianPositionType;
  using typename Superclass::ScalarType;
  using typename Superclass::InputPointType;
  using typename Superclass::OutputPointType;
  using typename Superclass::InputVectorType;
  using typename Superclass::OutputVectorType;
  using typename Superclass::OutputVectorValueType;
  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::TranslationType;

  using VnlQuaternionType = vnl_quaternion<TParametersValueType>;


  void
  SetRotation(const VnlQuaternionType & rotation);

  const VnlQuaternionType &
  GetRotation() const
  {
    return m_Rotation;
  }

  void
  SetIdentity() override;

  void
  SetParameters(const ParametersType & parameters) override;
 
  const ParametersType &
  GetParameters() const override;

  void
  ComputeJacobianWithRespectToParameters(const InputPointType & p, JacobianType & jacobian) const override;
 
protected:
#if !defined(ITK_LEGACY_REMOVE)
  [[deprecated("Removed unused constructor")]] QuaternionRigidTransform(const MatrixType &       matrix,
                                                                        const OutputVectorType & offset);
#endif
  QuaternionRigidTransform(unsigned int parametersDimension);
  QuaternionRigidTransform();
  ~QuaternionRigidTransform() override = default;
 
  void
  ComputeMatrix() override;
 
  void
  ComputeMatrixParameters() override;
 
  void
  SetVarRotation(const VnlQuaternionType & rotation)
  {
    m_Rotation = rotation;
  }
 
  const InverseMatrixType &
  GetInverseMatrix() const;
 
  void
  PrintSelf(std::ostream & os, Indent indent) const override;
 
private:
  VnlQuaternionType m_Rotation{};
}; // class QuaternionRigidTransform
} // namespace itk
 
#ifndef ITK_MANUAL_INSTANTIATION
#  include "itkQuaternionRigidTransform.hxx"
#endif
 
#endif /* itkQuaternionRigidTransform_h */