itkRigid3DTransform.h

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/*=========================================================================
 *
 *  Copyright NumFOCUS
 *
 *  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
 *
 *         https://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.
 *
 *=========================================================================*/
#ifndef itkRigid3DTransform_h
#define itkRigid3DTransform_h
 
#include <iostream>
#include "itkMatrixOffsetTransformBase.h"
#include "itkVersor.h"
 
namespace itk
{
template <typename TParametersValueType = double>
class ITK_TEMPLATE_EXPORT Rigid3DTransform : public MatrixOffsetTransformBase<TParametersValueType, 3, 3>
{
public:
  ITK_DISALLOW_COPY_AND_MOVE(Rigid3DTransform);
 
  using Self = Rigid3DTransform;
  using Superclass = MatrixOffsetTransformBase<TParametersValueType, 3, 3>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;
 
  itkNewMacro(Self);
 
  itkOverrideGetNameOfClassMacro(Rigid3DTransform);
 
  static constexpr unsigned int SpaceDimension = 3;
  static constexpr unsigned int InputSpaceDimension = 3;
  static constexpr unsigned int OutputSpaceDimension = 3;
  static constexpr unsigned int ParametersDimension = 12;
 
  using typename Superclass::ParametersType;
  using typename Superclass::ParametersValueType;
  using typename Superclass::FixedParametersType;
  using typename Superclass::FixedParametersValueType;
  using typename Superclass::JacobianType;
  using typename Superclass::JacobianPositionType;
  using typename Superclass::InverseJacobianPositionType;
  using typename Superclass::ScalarType;
  using typename Superclass::InputVectorType;
  using typename Superclass::OutputVectorType;
  using typename Superclass::OutputVectorValueType;
  using typename Superclass::InputCovariantVectorType;
  using typename Superclass::OutputCovariantVectorType;
  using typename Superclass::InputVnlVectorType;
  using typename Superclass::OutputVnlVectorType;
  using typename Superclass::InputPointType;
  using typename Superclass::OutputPointType;
  using typename Superclass::MatrixType;
  using typename Superclass::InverseMatrixType;
  using typename Superclass::MatrixValueType;
  using typename Superclass::CenterType;
  using typename Superclass::TranslationType;
  using typename Superclass::OffsetType;
 
  using InverseTransformBaseType = typename Superclass::InverseTransformBaseType;
  using InverseTransformBasePointer = typename InverseTransformBaseType::Pointer;
 
  void
  SetParameters(const ParametersType & parameters) override;
 
  void
  SetMatrix(const MatrixType & matrix) override;
 
  virtual void
  SetMatrix(const MatrixType & matrix, const TParametersValueType tolerance);
 
  void
  Translate(const OffsetType & offset, bool pre = false);
 
  bool
  MatrixIsOrthogonal(
    const MatrixType &         matrix,
    const TParametersValueType tolerance = MatrixOrthogonalityTolerance<TParametersValueType>::GetTolerance());
 
 
protected:
  Rigid3DTransform(const MatrixType & matrix, const OutputVectorType & offset);
  Rigid3DTransform(unsigned int paramDim);
  Rigid3DTransform();
  ~Rigid3DTransform() override = default;
 
  void
  PrintSelf(std::ostream & os, Indent indent) const override;
}; // class Rigid3DTransform
} // namespace itk
 
#ifndef ITK_MANUAL_INSTANTIATION
#  include "itkRigid3DTransform.hxx"
#endif
 
#endif /* itkRigid3DTransform_h */