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/*=========================================================================
Program: Insight Segmentation & Registration Toolkit
Module: $RCSfile: itkVersorRigid3DTransformOptimizer.h,v $
Language: C++
Date: $Date: 2007-03-22 14:29:14 $
Version: $Revision: 1.2 $
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 __itkVersorRigid3DTransformOptimizer_h
#define __itkVersorRigid3DTransformOptimizer_h
#include "itkRegularStepGradientDescentOptimizer.h"
#include "itkVersor.h"
namespace itk
{
/** \class VersorRigid3DTransformOptimizer
* \brief Implement a gradient descent optimizer for the VersorRigid3DTransform
* parameter space.
*
* VersorRigid3DTransformOptimizer is a variant of the gradient descent
* optimizer implmented in RegularStepGradientDescentOptimizer.
*
* Versors are not in a vector space, for that reason, the classical gradient
* descent algorithm has to be modified in order to be applicable to Versors
* (unit quaternions) that form the group SO(3).
*
* The Versor space has only three degrees of freedom, even though Versors are
* represented using four values.
*
* This optimizer assumes that the CostFunction to be optimized has an
* itk::Versor and an itk::Vector as parameters.
*
* \sa RegularStepGradientDescentOptimizer
* \sa Versor
* \sa VersorRigid3DTransform
*
* \ingroup Numerics Optimizers
*/
class ITK_EXPORT VersorRigid3DTransformOptimizer :
public RegularStepGradientDescentBaseOptimizer
{
public:
/** Standard class typedefs. */
typedef VersorRigid3DTransformOptimizer Self;
typedef RegularStepGradientDescentBaseOptimizer Superclass;
typedef SmartPointer<Self> Pointer;
typedef SmartPointer<const Self> ConstPointer;
/** Method for creation through the object factory. */
itkNewMacro(Self);
/** Run-time type information (and related methods). */
itkTypeMacro( VersorRigid3DTransformOptimizer,
RegularStepGradientDescentBaseOptimizer );
/** This class is specialized for 3D */
itkStaticConstMacro( SpaceDimension, unsigned int, 6 );
/** Versor Type */
typedef Versor<double> VersorType;
typedef VersorType::VectorType VectorType;
/** Advance one step following the gradient direction. */
virtual void StepAlongGradient( double factor,
const DerivativeType & transformedGradient );
protected:
VersorRigid3DTransformOptimizer() {}
virtual ~VersorRigid3DTransformOptimizer() {}
private:
VersorRigid3DTransformOptimizer(const Self&); //purposely not implemented
void operator=(const Self&); //purposely not implemented
};
} // end namespace itk
#endif
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