itkRigid3DTransform.h

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

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkRigid3DTransform.h,v $
  Language:  C++
  Date:      $Date: 2009-06-17 12:17:38 $
  Version:   $Revision: 1.41 $

  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 __itkRigid3DTransform_h
#define __itkRigid3DTransform_h

#include <iostream>
#include "itkMatrixOffsetTransformBase.h"
#include "itkExceptionObject.h"
#include "itkMatrix.h"
#include "itkVersor.h"

namespace itk
{

template < class TScalarType=double >    // type for scalars (float or double)
class ITK_EXPORT Rigid3DTransform :
   public MatrixOffsetTransformBase< TScalarType, 3, 3> 
{
public:
  typedef Rigid3DTransform                                 Self;
  typedef MatrixOffsetTransformBase< TScalarType, 3, 3 >   Superclass;
  typedef SmartPointer<Self>                               Pointer;
  typedef SmartPointer<const Self>                         ConstPointer;

  itkTypeMacro( Rigid3DTransform, MatrixOffsetTransformBase );

  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::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::InverseTransformBaseType InverseTransformBaseType;
  typedef typename InverseTransformBaseType::Pointer    InverseTransformBasePointer;

   virtual void SetParameters( const ParametersType & parameters );

  virtual void SetMatrix(const MatrixType &matrix);

  const MatrixType & GetRotationMatrix()
    { return this->GetMatrix(); }

  virtual void SetRotationMatrix(const MatrixType & matrix)
      { this->SetMatrix(matrix); }

  void Translate(const OffsetType & offset, bool pre=false);

  bool GetInverse(Self* inverse) const;

  virtual InverseTransformBasePointer GetInverseTransform() const;

  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:
  Rigid3DTransform(unsigned int spaceDim,
                   unsigned int paramDim);
  Rigid3DTransform(const MatrixType & matrix,
                   const OutputVectorType & offset);
  Rigid3DTransform();
  ~Rigid3DTransform();
  
  void PrintSelf(std::ostream &os, Indent indent) const;

private:
  Rigid3DTransform(const Self&); //purposely not implemented
  void operator=(const Self&); //purposely not implemented
  
}; //class Rigid3DTransform


}  // namespace itk

// Define instantiation macro for this template.
#define ITK_TEMPLATE_Rigid3DTransform(_, EXPORT, x, y) namespace itk { \
  _(1(class EXPORT Rigid3DTransform< ITK_TEMPLATE_1 x >)) \
  namespace Templates { typedef Rigid3DTransform< ITK_TEMPLATE_1 x > Rigid3DTransform##y; } \
  }

#if ITK_TEMPLATE_EXPLICIT
# include "Templates/itkRigid3DTransform+-.h"
#endif

#if ITK_TEMPLATE_TXX
# include "itkRigid3DTransform.txx"
#endif

#endif /* __itkRigid3DTransform_h */