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

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkVersorRigid3DTransform.h,v $
  Language:  C++
  Date:      $Date: 2006/03/18 18:06:38 $
  Version:   $Revision: 1.25 $

  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
 *
 * \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;
  
  /** 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;

  /** This method must be made protected here because it is not a safe way of
   * initializing the Versor */
  virtual void SetRotationMatrix(const MatrixType & matrix)
    { this->Superclass::SetRotationMatrix( matrix ); }
 
private:
  VersorRigid3DTransform(const Self&); //purposely not implemented
  void operator=(const Self&); //purposely not implemented

}; //class VersorRigid3DTransform


}  // namespace itk


#ifndef ITK_MANUAL_INSTANTIATION
#include "itkVersorRigid3DTransform.txx"
#endif

#endif /* __itkVersorRigid3DTransform_h */
