itkEuler3DTransform.h

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/*=========================================================================

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkEuler3DTransform.h,v $
  Language:  C++
  Date:      $Date: 2003/02/01 18:03:18 $
  Version:   $Revision: 1.1 $

  Copyright (c) 2002 Insight 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 __itkEuler3DTransform_h
#define __itkEuler3DTransform_h

#include <iostream>
#include "itkRigid3DTransform.h"

namespace itk
{

template < class TScalarType=double >    // Data type for scalars (float or double)
class ITK_EXPORT Euler3DTransform : 
            public Rigid3DTransform< TScalarType > 
{
public:
  typedef Euler3DTransform Self;
  typedef Rigid3DTransform< TScalarType >   Superclass;
  typedef SmartPointer<Self>        Pointer;
  typedef SmartPointer<const Self>  ConstPointer;
    
  itkNewMacro( Self );

  itkTypeMacro( Euler3DTransform, Rigid3DTransform );

  enum { SpaceDimension = 3, 
         ParametersDimension = 6 };

  typedef typename Superclass::ScalarType  ScalarType;

  typedef typename Superclass::ParametersType  ParametersType;

  typedef typename Superclass::JacobianType  JacobianType;

  typedef typename Superclass::VnlQuaternionType  VnlQuaternionType;

  typedef typename Superclass::VersorType  VersorType;
  typedef typename VersorType::VectorType  AxisType;
  typedef typename VersorType::ValueType   AngleType;
  
  typedef typename Superclass::OffsetType  OffsetType;

  typedef typename Superclass::InputPointType   InputPointType;
  typedef typename Superclass::OutputPointType  OutputPointType;
  
  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;
  
  void SetParameters( const ParametersType & parameters );

  void SetRotation(TScalarType angleX,TScalarType angleY,TScalarType angleZ);
  
  const JacobianType & GetJacobian(const InputPointType  &point ) const;

  void ComputeZYX(bool compute) {m_ComputeZYX = compute;}

protected:
  Euler3DTransform();
  ~Euler3DTransform(){};
  void PrintSelf(std::ostream &os, Indent indent) const;

  void ComputeMatrix(void);

private:
  Euler3DTransform(const Self&); //purposely not implemented
  void operator=(const Self&); //purposely not implemented

  TScalarType m_AngleX; 
  TScalarType m_AngleY; 
  TScalarType m_AngleZ;
  bool        m_ComputeZYX;

}; //class Euler3DTransform


}  // namespace itk


#ifndef ITK_MANUAL_INSTANTIATION
#include "itkEuler3DTransform.txx"
#endif

#endif /* __itkEuler3DTransform_h */

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