ITK  5.2.0
Insight Toolkit
itkRigid3DTransform.h
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18 #ifndef itkRigid3DTransform_h
19 #define itkRigid3DTransform_h
20 
21 #include <iostream>
23 #include "itkVersor.h"
24 
25 namespace itk
26 {
56 template <typename TParametersValueType = double>
57 class ITK_TEMPLATE_EXPORT Rigid3DTransform : public MatrixOffsetTransformBase<TParametersValueType, 3, 3>
58 {
59 public:
60  ITK_DISALLOW_COPY_AND_ASSIGN(Rigid3DTransform);
61 
67 
69  itkNewMacro(Self);
70 
73 
75  static constexpr unsigned int SpaceDimension = 3;
76  static constexpr unsigned int InputSpaceDimension = 3;
77  static constexpr unsigned int OutputSpaceDimension = 3;
78  static constexpr unsigned int ParametersDimension = 12;
79 
80  using ParametersType = typename Superclass::ParametersType;
81  using ParametersValueType = typename Superclass::ParametersValueType;
82  using FixedParametersType = typename Superclass::FixedParametersType;
83  using FixedParametersValueType = typename Superclass::FixedParametersValueType;
84  using JacobianType = typename Superclass::JacobianType;
85  using JacobianPositionType = typename Superclass::JacobianPositionType;
86  using InverseJacobianPositionType = typename Superclass::InverseJacobianPositionType;
87  using ScalarType = typename Superclass::ScalarType;
88  using InputVectorType = typename Superclass::InputVectorType;
89  using OutputVectorType = typename Superclass::OutputVectorType;
90  using OutputVectorValueType = typename Superclass::OutputVectorValueType;
91  using InputCovariantVectorType = typename Superclass::InputCovariantVectorType;
92  using OutputCovariantVectorType = typename Superclass::OutputCovariantVectorType;
93  using InputVnlVectorType = typename Superclass::InputVnlVectorType;
94  using OutputVnlVectorType = typename Superclass::OutputVnlVectorType;
95  using InputPointType = typename Superclass::InputPointType;
96  using OutputPointType = typename Superclass::OutputPointType;
97  using MatrixType = typename Superclass::MatrixType;
98  using InverseMatrixType = typename Superclass::InverseMatrixType;
99  using MatrixValueType = typename Superclass::MatrixValueType;
100  using CenterType = typename Superclass::CenterType;
101  using TranslationType = typename Superclass::TranslationType;
102  using OffsetType = typename Superclass::OffsetType;
103 
106  using InverseTransformBaseType = typename Superclass::InverseTransformBaseType;
107  using InverseTransformBasePointer = typename InverseTransformBaseType::Pointer;
108 
119  void
120  SetParameters(const ParametersType & parameters) override;
121 
127  void
128  SetMatrix(const MatrixType & matrix) override;
129 
135  virtual void
136  SetMatrix(const MatrixType & matrix, const TParametersValueType tolerance);
137 
145  void
146  Translate(const OffsetType & offset, bool pre = false);
147 
152  bool
153  MatrixIsOrthogonal(
154  const MatrixType & matrix,
155  const TParametersValueType tolerance = MatrixOrthogonalityTolerance<TParametersValueType>::GetTolerance());
156 
157 
158 protected:
159  Rigid3DTransform(const MatrixType & matrix, const OutputVectorType & offset);
160  Rigid3DTransform(unsigned int paramDim);
162  ~Rigid3DTransform() override = default;
163 
167  void
168  PrintSelf(std::ostream & os, Indent indent) const override;
169 }; // class Rigid3DTransform
170 } // namespace itk
171 
172 #ifndef ITK_MANUAL_INSTANTIATION
173 # include "itkRigid3DTransform.hxx"
174 #endif
175 
176 #endif /* itkRigid3DTransform_h */
itk::Rigid3DTransform::InputPointType
typename Superclass::InputPointType InputPointType
Definition: itkRigid3DTransform.h:95
itk::Rigid3DTransform
Rigid3DTransform of a vector space (e.g. space coordinates)
Definition: itkRigid3DTransform.h:57
itk::Rigid3DTransform::JacobianType
typename Superclass::JacobianType JacobianType
Definition: itkRigid3DTransform.h:84
itk::Rigid3DTransform::OffsetType
typename Superclass::OffsetType OffsetType
Definition: itkRigid3DTransform.h:102
itk::Rigid3DTransform::InverseTransformBaseType
typename Superclass::InverseTransformBaseType InverseTransformBaseType
Definition: itkRigid3DTransform.h:106
itk::Rigid3DTransform::InputCovariantVectorType
typename Superclass::InputCovariantVectorType InputCovariantVectorType
Definition: itkRigid3DTransform.h:91
itk::Rigid3DTransform::ParametersType
typename Superclass::ParametersType ParametersType
Definition: itkRigid3DTransform.h:80
itk::Rigid3DTransform::ParametersValueType
typename Superclass::ParametersValueType ParametersValueType
Definition: itkRigid3DTransform.h:81
itk::MatrixOffsetTransformBase
Matrix and Offset transformation of a vector space (e.g. space coordinates)
Definition: itkMatrixOffsetTransformBase.h:106
itk::SmartPointer< Self >
itk::Indent
Control indentation during Print() invocation.
Definition: itkIndent.h:49
itk::Rigid3DTransform::OutputVectorType
typename Superclass::OutputVectorType OutputVectorType
Definition: itkRigid3DTransform.h:89
itk::Rigid3DTransform::FixedParametersType
typename Superclass::FixedParametersType FixedParametersType
Definition: itkRigid3DTransform.h:82
itk::Rigid3DTransform::CenterType
typename Superclass::CenterType CenterType
Definition: itkRigid3DTransform.h:100
itk::Rigid3DTransform::JacobianPositionType
typename Superclass::JacobianPositionType JacobianPositionType
Definition: itkRigid3DTransform.h:85
itk::Rigid3DTransform::MatrixType
typename Superclass::MatrixType MatrixType
Definition: itkRigid3DTransform.h:97
itk::Rigid3DTransform::InputVectorType
typename Superclass::InputVectorType InputVectorType
Definition: itkRigid3DTransform.h:88
itk::LightObject
Light weight base class for most itk classes.
Definition: itkLightObject.h:59
itkVersor.h
itkMatrixOffsetTransformBase.h
itk::Rigid3DTransform::OutputVectorValueType
typename Superclass::OutputVectorValueType OutputVectorValueType
Definition: itkRigid3DTransform.h:90
itk::Rigid3DTransform::MatrixValueType
typename Superclass::MatrixValueType MatrixValueType
Definition: itkRigid3DTransform.h:99
itk::Rigid3DTransform::ScalarType
typename Superclass::ScalarType ScalarType
Definition: itkRigid3DTransform.h:87
itk::Rigid3DTransform::OutputVnlVectorType
typename Superclass::OutputVnlVectorType OutputVnlVectorType
Definition: itkRigid3DTransform.h:94
itk::Rigid3DTransform::OutputCovariantVectorType
typename Superclass::OutputCovariantVectorType OutputCovariantVectorType
Definition: itkRigid3DTransform.h:92
itk::Rigid3DTransform::FixedParametersValueType
typename Superclass::FixedParametersValueType FixedParametersValueType
Definition: itkRigid3DTransform.h:83
itk
The "itk" namespace contains all Insight Segmentation and Registration Toolkit (ITK) classes....
Definition: itkAnnulusOperator.h:24
itk::Rigid3DTransform::OutputPointType
typename Superclass::OutputPointType OutputPointType
Definition: itkRigid3DTransform.h:96
itk::MatrixOrthogonalityTolerance
Definition: itkMatrixOffsetTransformBase.h:39
itk::Rigid3DTransform::TranslationType
typename Superclass::TranslationType TranslationType
Definition: itkRigid3DTransform.h:101
itk::Rigid3DTransform::InputVnlVectorType
typename Superclass::InputVnlVectorType InputVnlVectorType
Definition: itkRigid3DTransform.h:93
itk::Rigid3DTransform::InverseTransformBasePointer
typename InverseTransformBaseType::Pointer InverseTransformBasePointer
Definition: itkRigid3DTransform.h:107
itk::Rigid3DTransform::InverseMatrixType
typename Superclass::InverseMatrixType InverseMatrixType
Definition: itkRigid3DTransform.h:98
itk::Rigid3DTransform::InverseJacobianPositionType
typename Superclass::InverseJacobianPositionType InverseJacobianPositionType
Definition: itkRigid3DTransform.h:86