itkRigid2DTransform.h

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

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkRigid2DTransform.h,v $
  Language:  C++
  Date:      $Date: 2006/10/14 19:58:31 $
  Version:   $Revision: 1.20 $

  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 __itkRigid2DTransform_h
#define __itkRigid2DTransform_h

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

namespace itk
{

template < class TScalarType=double >    // Data type for scalars (float or double)
class ITK_EXPORT Rigid2DTransform : 
        public MatrixOffsetTransformBase< TScalarType, 2, 2> // Dimensions of input and output spaces
{
public:
  typedef Rigid2DTransform Self;
  typedef MatrixOffsetTransformBase< TScalarType, 2, 2 > Superclass;
  typedef SmartPointer<Self>        Pointer;
  typedef SmartPointer<const Self>  ConstPointer;

  itkTypeMacro( Rigid2DTransform, MatrixOffsetTransformBase );

  itkNewMacro( Self );

  itkStaticConstMacro(InputSpaceDimension, unsigned int, 2);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 2);
  itkStaticConstMacro(ParametersDimension, unsigned int, 3);

  typedef typename Superclass::ScalarType  ScalarType;

  typedef typename Superclass::ParametersType  ParametersType;

  typedef typename Superclass::JacobianType  JacobianType;

  typedef typename Superclass::MatrixType MatrixType;

  typedef typename Superclass::OffsetType OffsetType;

  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;

  virtual void SetMatrix( const MatrixType & matrix );

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


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

  inline InputPointType      BackTransform(const OutputPointType  &point ) const;
  inline InputVectorType     BackTransform(const OutputVectorType &vector) const;
  inline InputVnlVectorType  BackTransform(const OutputVnlVectorType &vector) const;

  inline InputCovariantVectorType BackTransform(
                                     const OutputCovariantVectorType &vector) const;

  void SetAngle(TScalarType angle);
  itkGetConstReferenceMacro( Angle, TScalarType );

  void SetAngleInDegrees(TScalarType angle);

  void SetRotation(TScalarType angle)
    { this->SetAngle(angle); }
  virtual const TScalarType & GetRotation() const
    { return m_Angle; }  

  void SetParameters( const ParametersType & parameters );

  const ParametersType & GetParameters( void ) const;

  const JacobianType & GetJacobian(const InputPointType  &point ) const;

  void CloneInverseTo( Pointer & newinverse ) const;

  void CloneTo( Pointer & clone ) const;

  virtual void SetIdentity(void);

protected:
  Rigid2DTransform();
  Rigid2DTransform( unsigned int outputSpaceDimension, 
                    unsigned int parametersDimension);
 
 ~Rigid2DTransform();
 
  void PrintSelf(std::ostream &os, Indent indent) const;

  virtual void ComputeMatrix(void);

  virtual void ComputeMatrixParameters(void);

  void SetVarAngle( TScalarType angle )
    { m_Angle = angle; }

private:
  Rigid2DTransform(const Self&); //purposely not implemented
  void operator=(const Self&); //purposely not implemented
  
  TScalarType         m_Angle; 

}; //class Rigid2DTransform


// Back transform a point
template<class TScalarType>
typename Rigid2DTransform<TScalarType>::InputPointType
inline
Rigid2DTransform<TScalarType>::
BackTransform(const OutputPointType &point) const 
{
  itkWarningMacro(<<"BackTransform(): This method is slated to be removed from ITK.  Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform.");
  return this->GetInverseMatrix() * (point - this->GetOffset());
}

// Back transform a vector
template<class TScalarType>
inline
typename Rigid2DTransform<TScalarType>::InputVectorType
Rigid2DTransform<TScalarType>::
BackTransform(const OutputVectorType &vect ) const 
{
  itkWarningMacro(<<"BackTransform(): This method is slated to be removed from ITK.  Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform.");
  return this->GetInverseMatrix() * vect;
}

// Back transform a vnl_vector
template<class TScalarType>
inline
typename Rigid2DTransform<TScalarType>::InputVnlVectorType
Rigid2DTransform<TScalarType>::
BackTransform(const OutputVnlVectorType &vect ) const 
{
  itkWarningMacro(<<"BackTransform(): This method is slated to be removed from ITK.  Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform.");
  return this->GetInverseMatrix() * vect;
}


// Back Transform a CovariantVector
template<class TScalarType>
inline
typename Rigid2DTransform<TScalarType>::InputCovariantVectorType
Rigid2DTransform<TScalarType>::
BackTransform(const OutputCovariantVectorType &vect) const 
{
  itkWarningMacro(<<"BackTransform(): This method is slated to be removed from ITK.  Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform.");
  return this->GetMatrix() * vect;
}

}  // namespace itk


// Define instantiation macro for this template.
#define ITK_TEMPLATE_Rigid2DTransform(_, EXPORT, x, y) namespace itk { \
  _(1(class EXPORT Rigid2DTransform< ITK_TEMPLATE_1 x >)) \
  namespace Templates { typedef Rigid2DTransform< ITK_TEMPLATE_1 x > Rigid2DTransform##y; } \
  }

#if ITK_TEMPLATE_EXPLICIT
# include "Templates/itkRigid2DTransform+-.h"
#endif

#if ITK_TEMPLATE_TXX
# include "itkRigid2DTransform.txx"
#endif

#endif /* __itkRigid2DTransform_h */

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