text: /*=========================================================================
   *
   *  Copyright Insight Software Consortium
   *
   *  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.
   *
   *=========================================================================*/
  #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 ITKTransform
   */
  template< typename TScalar = double >
  // Data type for scalars (float or double)
  class VersorRigid3DTransform :
    public VersorTransform< TScalar >
  {
  public:
    /** Standard class typedefs. */
    typedef VersorRigid3DTransform     Self;
    typedef VersorTransform< TScalar > 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. */
    virtual void ComputeJacobianWithRespectToParameters( const InputPointType  & p, JacobianType & jacobian) const;
  
  protected:
    VersorRigid3DTransform(const MatrixType & matrix, const OutputVectorType & offset);
    VersorRigid3DTransform(unsigned int paramDim);
    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
  
  #ifndef ITK_MANUAL_INSTANTIATION
  #include "itkVersorRigid3DTransform.hxx"
  #endif
  
  #endif /* __itkVersorRigid3DTransform_h */
  