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/*=========================================================================
Program: Insight Segmentation & Registration Toolkit
Module: $RCSfile: itkVersorTransformOptimizer.h,v $
Language: C++
Date: $Date: 2007-03-22 14:29:14 $
Version: $Revision: 1.11 $
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 __itkVersorTransformOptimizer_h
#define __itkVersorTransformOptimizer_h
#include "itkRegularStepGradientDescentOptimizer.h"
#include "itkVersor.h"
namespace itk
{
/** \class VersorTransformOptimizer
* \brief Implement a gradient descent optimizer
*
* VersorTransformOptimizer 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 as parameter.
*
* \sa RegularStepGradientDescentOptimizer
* \sa Versor
* \sa VersorTransform
*
* \ingroup Numerics Optimizers
*/
class ITK_EXPORT VersorTransformOptimizer :
public RegularStepGradientDescentBaseOptimizer
{
public:
/** Standard class typedefs. */
typedef VersorTransformOptimizer 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( VersorTransformOptimizer,
RegularStepGradientDescentBaseOptimizer );
/** 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:
VersorTransformOptimizer() {}
virtual ~VersorTransformOptimizer() {}
private:
VersorTransformOptimizer(const Self&); //purposely not implemented
void operator=(const Self&); //purposely not implemented
};
} // end namespace itk
#endif
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