itkAdvancedRigid3DTransform.h

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/*=========================================================================
 *
 *  Copyright UMC Utrecht and contributors
 *
 *  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
 *  limitations under the License.
 *
 *=========================================================================*/
/*=========================================================================
 
  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkAdvancedRigid3DTransform.h,v $
  Language:  C++
  Date:      $Date: 2007-02-13 21:46:04 $
  Version:   $Revision: 1.38 $
 
  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 __itkAdvancedRigid3DTransform_h
#define __itkAdvancedRigid3DTransform_h
 
#include <iostream>
#include "itkAdvancedMatrixOffsetTransformBase.h"
#include "itkMacro.h"
#include "itkMatrix.h"
#include "itkVersor.h"
 
namespace itk
{
 
template< class TScalarType = double >
// type for scalars (float or double)
class AdvancedRigid3DTransform :
  public AdvancedMatrixOffsetTransformBase< TScalarType, 3, 3 >
{
public:
 
  typedef AdvancedRigid3DTransform                               Self;
  typedef AdvancedMatrixOffsetTransformBase< TScalarType, 3, 3 > Superclass;
  typedef SmartPointer< Self >                                   Pointer;
  typedef SmartPointer< const Self >                             ConstPointer;
 
  itkTypeMacro( AdvancedRigid3DTransform, AdvancedMatrixOffsetTransformBase );
 
  itkNewMacro( Self );
 
  itkStaticConstMacro( SpaceDimension, unsigned int, 3 );
  itkStaticConstMacro( InputSpaceDimension, unsigned int, 3 );
  itkStaticConstMacro( OutputSpaceDimension, unsigned int, 3 );
  itkStaticConstMacro( ParametersDimension, unsigned int, 12 );
 
  typedef typename Superclass::ParametersType         ParametersType;
  typedef typename Superclass::NumberOfParametersType NumberOfParametersType;
  typedef typename Superclass::JacobianType           JacobianType;
  typedef typename Superclass::ScalarType             ScalarType;
  typedef typename Superclass::InputVectorType        InputVectorType;
  typedef typename Superclass::OutputVectorType       OutputVectorType;
  typedef typename Superclass::InputCovariantVectorType
    InputCovariantVectorType;
  typedef typename Superclass::OutputCovariantVectorType
    OutputCovariantVectorType;
  typedef typename Superclass::InputVnlVectorType  InputVnlVectorType;
  typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;
  typedef typename Superclass::InputPointType      InputPointType;
  typedef typename Superclass::OutputPointType     OutputPointType;
  typedef typename Superclass::MatrixType          MatrixType;
  typedef typename Superclass::InverseMatrixType   InverseMatrixType;
  typedef typename Superclass::CenterType          CenterType;
  typedef typename Superclass::TranslationType     TranslationType;
  typedef typename Superclass::OffsetType          OffsetType;
 
  typedef typename Superclass
    ::NonZeroJacobianIndicesType NonZeroJacobianIndicesType;
  typedef typename Superclass::SpatialJacobianType SpatialJacobianType;
  typedef typename Superclass
    ::JacobianOfSpatialJacobianType JacobianOfSpatialJacobianType;
  typedef typename Superclass::SpatialHessianType SpatialHessianType;
  typedef typename Superclass
    ::JacobianOfSpatialHessianType JacobianOfSpatialHessianType;
  typedef typename Superclass::InternalMatrixType InternalMatrixType;
 
  void SetParameters( const ParametersType & parameters ) override;
 
  void SetMatrix( const MatrixType & matrix ) override;
 
  const MatrixType & GetRotationMatrix()
  { return this->GetMatrix(); }
 
  virtual void SetRotationMatrix( const MatrixType & matrix )
  { this->SetMatrix( matrix ); }
 
  void Translate( const OffsetType & offset, bool pre = false );
 
  InputPointType      BackTransform( const OutputPointType
    & point ) const;
 
  InputVectorType     BackTransform( const OutputVectorType
    & vector ) const;
 
  InputVnlVectorType  BackTransform( const OutputVnlVectorType
    & vector ) const;
 
  InputCovariantVectorType BackTransform( const OutputCovariantVectorType
    & vector ) const;
 
  bool MatrixIsOrthogonal( const MatrixType & matrix, double tol = 1e-10 );
 
protected:
 
  AdvancedRigid3DTransform( unsigned int paramDim );
  AdvancedRigid3DTransform( const MatrixType & matrix,
    const OutputVectorType & offset );
  AdvancedRigid3DTransform();
  ~AdvancedRigid3DTransform() override;
 
  void PrintSelf( std::ostream & os, Indent indent ) const override;
 
private:
 
  AdvancedRigid3DTransform( const Self & ); // purposely not implemented
  void operator=( const Self & );           // purposely not implemented
 
};
 
}  // namespace itk
 
#ifndef ITK_MANUAL_INSTANTIATION
#include "itkAdvancedRigid3DTransform.hxx"
#endif
 
#endif /* __itkAdvancedRigid3DTransform_h */