/usr/include/ITK-4.5/itkVersorRigid3DTransformOptimizer.h is in libinsighttoolkit4-dev 4.5.0-3.
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*
* Copyright Insight Software Consortium
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0.txt
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
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*=========================================================================*/
#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
* \ingroup ITKOptimizers
*/
class 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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