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00017 #ifndef __itkRigid2DTransform_h
00018 #define __itkRigid2DTransform_h
00019
00020 #include <iostream>
00021 #include "itkMatrixOffsetTransformBase.h"
00022 #include "itkExceptionObject.h"
00023
00024 namespace itk
00025 {
00026
00057 template < class TScalarType=double >
00058 class ITK_EXPORT Rigid2DTransform :
00059 public MatrixOffsetTransformBase< TScalarType, 2, 2>
00060 {
00061 public:
00063 typedef Rigid2DTransform Self;
00064 typedef MatrixOffsetTransformBase< TScalarType, 2, 2 > Superclass;
00065 typedef SmartPointer<Self> Pointer;
00066 typedef SmartPointer<const Self> ConstPointer;
00067
00069 itkTypeMacro( Rigid2DTransform, MatrixOffsetTransformBase );
00070
00072 itkNewMacro( Self );
00073
00075 itkStaticConstMacro(InputSpaceDimension, unsigned int, 2);
00076 itkStaticConstMacro(OutputSpaceDimension, unsigned int, 2);
00077 itkStaticConstMacro(ParametersDimension, unsigned int, 3);
00079
00081 typedef typename Superclass::ScalarType ScalarType;
00082
00084 typedef typename Superclass::ParametersType ParametersType;
00085 typedef typename Superclass::ParametersValueType ParametersValueType;
00086
00088 typedef typename Superclass::JacobianType JacobianType;
00089
00091 typedef typename Superclass::MatrixType MatrixType;
00092 typedef typename Superclass::MatrixValueType MatrixValueType;
00093
00095 typedef typename Superclass::OffsetType OffsetType;
00096 typedef typename Superclass::OffsetValueType OffsetValueType;
00097
00099 typedef typename Superclass::InputVectorType InputVectorType;
00100 typedef typename Superclass::OutputVectorType OutputVectorType;
00101 typedef typename Superclass::OutputVectorValueType OutputVectorValueType;
00102
00104 typedef typename Superclass::InputCovariantVectorType InputCovariantVectorType;
00105 typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType;
00106
00108 typedef typename Superclass::InputVnlVectorType InputVnlVectorType;
00109 typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;
00110
00112 typedef typename Superclass::InputPointType InputPointType;
00113 typedef typename Superclass::OutputPointType OutputPointType;
00114
00117 typedef typename Superclass::InverseTransformBaseType InverseTransformBaseType;
00118 typedef typename InverseTransformBaseType::Pointer InverseTransformBasePointer;
00119
00132 virtual void SetMatrix( const MatrixType & matrix );
00133
00139 virtual void SetRotationMatrix(const MatrixType &matrix)
00140 { this->SetMatrix( matrix ); }
00141 const MatrixType & GetRotationMatrix() const
00142 { return this->GetMatrix(); }
00144
00145
00153 void Translate(const OffsetType &offset, bool pre=false);
00154
00163 inline InputPointType BackTransform(const OutputPointType &point ) const;
00164 inline InputVectorType BackTransform(const OutputVectorType &vector) const;
00165 inline InputVnlVectorType BackTransform(const OutputVnlVectorType &vector) const;
00167
00168 inline InputCovariantVectorType BackTransform(
00169 const OutputCovariantVectorType &vector) const;
00170
00172 void SetAngle(TScalarType angle);
00173 itkGetConstReferenceMacro( Angle, TScalarType );
00175
00177 void SetAngleInDegrees(TScalarType angle);
00178
00182 void SetRotation(TScalarType angle)
00183 { this->SetAngle(angle); }
00184 virtual const TScalarType & GetRotation() const
00185 { return m_Angle; }
00187
00196 void SetParameters( const ParametersType & parameters );
00197
00206 const ParametersType & GetParameters( void ) const;
00207
00212 const JacobianType & GetJacobian(const InputPointType &point ) const;
00213
00218 void CloneInverseTo( Pointer & newinverse ) const;
00219
00221 bool GetInverse(Self* inverse) const;
00222
00224 virtual InverseTransformBasePointer GetInverseTransform() const;
00225
00230 void CloneTo( Pointer & clone ) const;
00231
00233 virtual void SetIdentity(void);
00234
00235 protected:
00236 Rigid2DTransform();
00237 Rigid2DTransform( unsigned int outputSpaceDimension,
00238 unsigned int parametersDimension);
00239
00240 ~Rigid2DTransform();
00241
00245 void PrintSelf(std::ostream &os, Indent indent) const;
00246
00250 virtual void ComputeMatrix(void);
00251
00256 virtual void ComputeMatrixParameters(void);
00257
00259 void SetVarAngle( TScalarType angle )
00260 { m_Angle = angle; }
00261
00262 private:
00263 Rigid2DTransform(const Self&);
00264 void operator=(const Self&);
00265
00266 TScalarType m_Angle;
00267
00268 };
00269
00270
00271
00272 template<class TScalarType>
00273 inline
00274 typename Rigid2DTransform<TScalarType>::InputPointType
00275 Rigid2DTransform<TScalarType>::
00276 BackTransform(const OutputPointType &point) const
00277 {
00278 itkWarningMacro(
00279 <<"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."
00280 );
00281 return this->GetInverseMatrix() * (point - this->GetOffset());
00282 }
00283
00284
00285 template<class TScalarType>
00286 inline
00287 typename Rigid2DTransform<TScalarType>::InputVectorType
00288 Rigid2DTransform<TScalarType>::
00289 BackTransform(const OutputVectorType &vect ) const
00290 {
00291 itkWarningMacro(
00292 <<"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."
00293 );
00294 return this->GetInverseMatrix() * vect;
00295 }
00296
00297
00298 template<class TScalarType>
00299 inline
00300 typename Rigid2DTransform<TScalarType>::InputVnlVectorType
00301 Rigid2DTransform<TScalarType>::
00302 BackTransform(const OutputVnlVectorType &vect ) const
00303 {
00304 itkWarningMacro(
00305 <<"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."
00306 );
00307 return this->GetInverseMatrix() * vect;
00308 }
00309
00310
00311
00312 template<class TScalarType>
00313 inline
00314 typename Rigid2DTransform<TScalarType>::InputCovariantVectorType
00315 Rigid2DTransform<TScalarType>::
00316 BackTransform(const OutputCovariantVectorType &vect) const
00317 {
00318 itkWarningMacro(
00319 <<"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."
00320 );
00321 return this->GetMatrix() * vect;
00322 }
00323
00324 }
00325
00326
00327
00328 #define ITK_TEMPLATE_Rigid2DTransform(_, EXPORT, x, y) namespace itk { \
00329 _(1(class EXPORT Rigid2DTransform< ITK_TEMPLATE_1 x >)) \
00330 namespace Templates { typedef Rigid2DTransform< ITK_TEMPLATE_1 x > Rigid2DTransform##y; } \
00331 }
00332
00333 #if ITK_TEMPLATE_EXPLICIT
00334 # include "Templates/itkRigid2DTransform+-.h"
00335 #endif
00336
00337 #if ITK_TEMPLATE_TXX
00338 # include "itkRigid2DTransform.txx"
00339 #endif
00340
00341 #endif
00342