mitkVersorRigid3DTransform.h

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

  Program:   3DMed
  Date:      $Date: 2014-02-25 18:30:00 +0800 $
  Version:   $Version: 4.6.0 $
  Copyright: MIPG, Institute of Automation, Chinese Academy of Sciences

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


#ifndef __mitkVersorRigid3DTransform_h
#define __mitkVersorRigid3DTransform_h

#include "mitkTransform.h"
//#include "mitkQuaternion.h"


class MITK_REGISTRATION_API mitkVersorRigid3DTransform : public mitkTransform
{
public:
    MITK_TYPE(mitkVersorRigid3DTransform, mitkTransform)    
    virtual void PrintSelf(ostream &os);

    mitkVersorRigid3DTransform();

    const MatrixType & GetJacobian(const VectorParameterType& inPoint);

    virtual void ConvertTransformMaxtrixToVector();

    void GetVersor(ScalarParameterType &x, ScalarParameterType &y, ScalarParameterType &z, ScalarParameterType &w);

    void GetAngles(ScalarParameterType &alpha, ScalarParameterType &beta, ScalarParameterType &gamma);

    void GetTranslations(ScalarParameterType &tx, ScalarParameterType &ty, ScalarParameterType &tz);

protected:
    virtual ~mitkVersorRigid3DTransform();  
    virtual void ComputeTransformMatrix();
    void ComputeJacobianParameters();
    virtual bool Execute();

    // preallocated local variables
    ScalarParameterType vx,vy,vz,vw;
    ScalarParameterType xx,yy,zz,xy,xz,xw,yz,yw,zw;
    ScalarParameterType vxx,vyy,vzz,vww,vxy,vxz,vxw,vyz,vyw,vzw;

    //mitkQuaternion*               m_Versor;

private:
    mitkVersorRigid3DTransform(const mitkVersorRigid3DTransform&);
    void operator = (const mitkVersorRigid3DTransform&);

};


//#define DEFINED_mitkVersorRigid3DTransform



#endif

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