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00017 #ifndef __itkRigid3DTransform_h
00018 #define __itkRigid3DTransform_h
00019
00020 #include <iostream>
00021 #include "itkMatrixOffsetTransformBase.h"
00022 #include "itkExceptionObject.h"
00023 #include "itkMatrix.h"
00024 #include "itkVersor.h"
00025
00026 namespace itk
00027 {
00028
00049 template < class TScalarType=double >
00050 class ITK_EXPORT Rigid3DTransform :
00051 public MatrixOffsetTransformBase< TScalarType, 3, 3>
00052 {
00053 public:
00055 typedef Rigid3DTransform Self;
00056 typedef MatrixOffsetTransformBase< TScalarType, 3, 3 > Superclass;
00057 typedef SmartPointer<Self> Pointer;
00058 typedef SmartPointer<const Self> ConstPointer;
00059
00061 itkTypeMacro( Rigid3DTransform, MatrixOffsetTransformBase );
00062
00064 itkNewMacro( Self );
00065
00067 itkStaticConstMacro(SpaceDimension, unsigned int, 3);
00068 itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
00069 itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
00070 itkStaticConstMacro(ParametersDimension, unsigned int, 12);
00072
00073 typedef typename Superclass::ParametersType ParametersType;
00074 typedef typename Superclass::ParametersValueType ParametersValueType;
00075 typedef typename Superclass::JacobianType JacobianType;
00076 typedef typename Superclass::ScalarType ScalarType;
00077 typedef typename Superclass::InputVectorType InputVectorType;
00078 typedef typename Superclass::OutputVectorType OutputVectorType;
00079 typedef typename Superclass::OutputVectorValueType OutputVectorValueType;
00080 typedef typename Superclass::InputCovariantVectorType
00081 InputCovariantVectorType;
00082 typedef typename Superclass::OutputCovariantVectorType
00083 OutputCovariantVectorType;
00084 typedef typename Superclass::InputVnlVectorType InputVnlVectorType;
00085 typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;
00086 typedef typename Superclass::InputPointType InputPointType;
00087 typedef typename Superclass::OutputPointType OutputPointType;
00088 typedef typename Superclass::MatrixType MatrixType;
00089 typedef typename Superclass::InverseMatrixType InverseMatrixType;
00090 typedef typename Superclass::MatrixValueType MatrixValueType;
00091 typedef typename Superclass::CenterType CenterType;
00092 typedef typename Superclass::TranslationType TranslationType;
00093 typedef typename Superclass::OffsetType OffsetType;
00094
00097 typedef typename Superclass::InverseTransformBaseType InverseTransformBaseType;
00098 typedef typename InverseTransformBaseType::Pointer InverseTransformBasePointer;
00099
00110 virtual void SetParameters( const ParametersType & parameters );
00111
00117 virtual void SetMatrix(const MatrixType &matrix);
00118
00127 const MatrixType & GetRotationMatrix()
00128 { return this->GetMatrix(); }
00129
00140 virtual void SetRotationMatrix(const MatrixType & matrix)
00141 { this->SetMatrix(matrix); }
00142
00150 void Translate(const OffsetType & offset, bool pre=false);
00151
00153 bool GetInverse(Self* inverse) const;
00154
00156 virtual InverseTransformBasePointer GetInverseTransform() const;
00157
00169 InputPointType BackTransform(const OutputPointType
00170 &point ) const;
00171 InputVectorType BackTransform(const OutputVectorType
00172 &vector) const;
00173 InputVnlVectorType BackTransform( const OutputVnlVectorType
00174 &vector) const;
00175 InputCovariantVectorType BackTransform(const OutputCovariantVectorType
00176 &vector) const;
00178
00183 bool MatrixIsOrthogonal( const MatrixType & matrix, double tol = 1e-10 );
00184
00185 protected:
00186 Rigid3DTransform(unsigned int spaceDim,
00187 unsigned int paramDim);
00188 Rigid3DTransform(const MatrixType & matrix,
00189 const OutputVectorType & offset);
00190 Rigid3DTransform();
00191 ~Rigid3DTransform();
00192
00196 void PrintSelf(std::ostream &os, Indent indent) const;
00197
00198 private:
00199 Rigid3DTransform(const Self&);
00200 void operator=(const Self&);
00201
00202 };
00203
00204
00205 }
00206
00207
00208 #define ITK_TEMPLATE_Rigid3DTransform(_, EXPORT, x, y) namespace itk { \
00209 _(1(class EXPORT Rigid3DTransform< ITK_TEMPLATE_1 x >)) \
00210 namespace Templates { typedef Rigid3DTransform< ITK_TEMPLATE_1 x > Rigid3DTransform##y; } \
00211 }
00212
00213 #if ITK_TEMPLATE_EXPLICIT
00214 # include "Templates/itkRigid3DTransform+-.h"
00215 #endif
00216
00217 #if ITK_TEMPLATE_TXX
00218 # include "itkRigid3DTransform.txx"
00219 #endif
00220
00221 #endif
00222