itkVersor.h

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

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkVersor.h,v $
  Language:  C++
  Date:      $Date: 2003/09/10 14:29:29 $
  Version:   $Revision: 1.16 $

  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 __itkVersor_h
#define __itkVersor_h

#include "itkVector.h"
#include "itkPoint.h"
#include "itkMatrix.h"
#include "itkCovariantVector.h"
#include "vnl/vnl_quaternion.h"
#include "vnl/vnl_vector_fixed.h"

namespace itk
{

template<class T> 
class Versor 
{
public:
  typedef Versor  Self;
   
  typedef T ValueType;

  typedef  Vector<T,3>   VectorType;

  typedef  Point<T,3>   PointType;
 
  typedef  CovariantVector<T,3>   CovariantVectorType;
 
  typedef  vnl_vector_fixed<T,3>   VnlVectorType;

  typedef  vnl_quaternion<T>       VnlQuaternionType;

  typedef  Matrix<T,3,3>          MatrixType;

  vnl_quaternion<T> GetVnlQuaternion( void ) const;

  void Set( const VnlQuaternionType & ); 

  void Set( T x, T y, T z, T w );  


  Versor();

  Versor(const Self & v);

  const Self& operator=(const Self & v);
 
  const Self& operator*=(const Self & v);

  const Self& operator/=(const Self & v);


  ValueType GetTensor(void) const;

  void Normalize(void);

  Self GetConjugate(void) const;

  Self GetReciprocal(void) const;

  Self operator*(const Self &vec) const;

  Self operator/(const Self &vec) const;

  bool operator==(const Self &vec) const;

  bool operator!=(const Self &vec) const;

  ValueType GetScalar( void ) const;

  ValueType GetX( void ) const
    { return m_X; }

  ValueType GetY( void ) const
    { return m_Y; }

  ValueType GetZ( void ) const
    { return m_Z; }

  ValueType GetW( void ) const
    { return m_W; }

  ValueType GetAngle( void ) const;

   VectorType GetAxis( void ) const;
   
   VectorType GetRight( void ) const;
   
  void Set( const VectorType & axis, ValueType angle );
  
  void Set( const VectorType & axis );

  void SetRotationAroundX( ValueType angle );
 
  void SetRotationAroundY( ValueType angle );
 
  void SetRotationAroundZ( ValueType angle );

  void SetIdentity();
  
  VectorType Transform( const VectorType & v ) const;

  CovariantVectorType Transform( const CovariantVectorType & v ) const;

  PointType Transform( const PointType & v ) const;

  VnlVectorType Transform( const VnlVectorType & v ) const;

  MatrixType GetMatrix(void) const;
   
  Self SquareRoot(void) const;
   
  Self Exponential( ValueType exponent ) const;

private:
   ValueType  m_X;
   
   ValueType  m_Y;
   
   ValueType  m_Z;

   ValueType  m_W;
};

template< class T>  
ITK_EXPORT std::ostream& operator<<( std::ostream& os, 
                                     const Versor<T> & v)
{
  os << "[ ";
  os << v.GetX() << ", " << v.GetY() << ", ";
  os << v.GetZ() << ", " << v.GetW() << " ]";
  return os;
}

template< class T>
ITK_EXPORT std::istream& operator>>(std::istream& is, 
                                    Versor<T> & v); 


} // end namespace itk
  

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


#endif 

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