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itkRigid2DTransform.h

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00001 /*=========================================================================
00002 
00003   Program:   Insight Segmentation & Registration Toolkit
00004   Module:    $RCSfile: itkRigid2DTransform.h,v $
00005   Language:  C++
00006   Date:      $Date: 2007/04/05 17:02:10 $
00007   Version:   $Revision: 1.21 $
00008 
00009   Copyright (c) Insight Software Consortium. All rights reserved.
00010   See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.
00011 
00012      This software is distributed WITHOUT ANY WARRANTY; without even 
00013      the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
00014      PURPOSE.  See the above copyright notices for more information.
00015 
00016 =========================================================================*/
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 >    // Data type for scalars (float or double)
00058 class ITK_EXPORT Rigid2DTransform : 
00059         public MatrixOffsetTransformBase< TScalarType, 2, 2> // Dimensions of input and output spaces
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 
00087   typedef typename Superclass::JacobianType  JacobianType;
00088 
00090   typedef typename Superclass::MatrixType MatrixType;
00091 
00093   typedef typename Superclass::OffsetType OffsetType;
00094 
00096   typedef typename Superclass::InputVectorType  InputVectorType;
00097   typedef typename Superclass::OutputVectorType OutputVectorType;
00098 
00100   typedef typename Superclass::InputCovariantVectorType InputCovariantVectorType;
00101   typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType;
00102 
00104   typedef typename Superclass::InputVnlVectorType  InputVnlVectorType;
00105   typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;
00106 
00108   typedef typename Superclass::InputPointType  InputPointType;
00109   typedef typename Superclass::OutputPointType OutputPointType;
00110 
00123   virtual void SetMatrix( const MatrixType & matrix );
00124 
00130   virtual void SetRotationMatrix(const MatrixType &matrix)
00131     { this->SetMatrix( matrix ); }
00132   const MatrixType & GetRotationMatrix() const
00133     { return this->GetMatrix(); }
00135 
00136 
00144   void Translate(const OffsetType &offset, bool pre=false);
00145 
00154   inline InputPointType      BackTransform(const OutputPointType  &point ) const;
00155   inline InputVectorType     BackTransform(const OutputVectorType &vector) const;
00156   inline InputVnlVectorType  BackTransform(const OutputVnlVectorType &vector) const;
00158 
00159   inline InputCovariantVectorType BackTransform(
00160                                      const OutputCovariantVectorType &vector) const;
00161 
00163   void SetAngle(TScalarType angle);
00164   itkGetConstReferenceMacro( Angle, TScalarType );
00166 
00168   void SetAngleInDegrees(TScalarType angle);
00169 
00173   void SetRotation(TScalarType angle)
00174     { this->SetAngle(angle); }
00175   virtual const TScalarType & GetRotation() const
00176     { return m_Angle; }  
00178 
00187   void SetParameters( const ParametersType & parameters );
00188 
00197   const ParametersType & GetParameters( void ) const;
00198 
00203   const JacobianType & GetJacobian(const InputPointType  &point ) const;
00204 
00209   void CloneInverseTo( Pointer & newinverse ) const;
00210 
00215   void CloneTo( Pointer & clone ) const;
00216 
00218   virtual void SetIdentity(void);
00219 
00220 protected:
00221   Rigid2DTransform();
00222   Rigid2DTransform( unsigned int outputSpaceDimension, 
00223                     unsigned int parametersDimension);
00224  
00225  ~Rigid2DTransform();
00226  
00230   void PrintSelf(std::ostream &os, Indent indent) const;
00231 
00235   virtual void ComputeMatrix(void);
00236 
00241   virtual void ComputeMatrixParameters(void);
00242 
00244   void SetVarAngle( TScalarType angle )
00245     { m_Angle = angle; }
00246 
00247 private:
00248   Rigid2DTransform(const Self&); //purposely not implemented
00249   void operator=(const Self&); //purposely not implemented
00250   
00251   TScalarType         m_Angle; 
00252 
00253 }; //class Rigid2DTransform
00254 
00255 
00256 // Back transform a point
00257 template<class TScalarType>
00258 inline
00259 typename Rigid2DTransform<TScalarType>::InputPointType
00260 Rigid2DTransform<TScalarType>::
00261 BackTransform(const OutputPointType &point) const 
00262 {
00263   itkWarningMacro(
00264     <<"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."
00265     );
00266   return this->GetInverseMatrix() * (point - this->GetOffset());
00267 }
00268 
00269 // Back transform a vector
00270 template<class TScalarType>
00271 inline
00272 typename Rigid2DTransform<TScalarType>::InputVectorType
00273 Rigid2DTransform<TScalarType>::
00274 BackTransform(const OutputVectorType &vect ) const 
00275 {
00276   itkWarningMacro(
00277     <<"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."
00278     );
00279   return this->GetInverseMatrix() * vect;
00280 }
00281 
00282 // Back transform a vnl_vector
00283 template<class TScalarType>
00284 inline
00285 typename Rigid2DTransform<TScalarType>::InputVnlVectorType
00286 Rigid2DTransform<TScalarType>::
00287 BackTransform(const OutputVnlVectorType &vect ) const 
00288 {
00289   itkWarningMacro(
00290     <<"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."
00291     );
00292   return this->GetInverseMatrix() * vect;
00293 }
00294 
00295 
00296 // Back Transform a CovariantVector
00297 template<class TScalarType>
00298 inline
00299 typename Rigid2DTransform<TScalarType>::InputCovariantVectorType
00300 Rigid2DTransform<TScalarType>::
00301 BackTransform(const OutputCovariantVectorType &vect) const 
00302 {
00303   itkWarningMacro(
00304     <<"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."
00305     );
00306   return this->GetMatrix() * vect;
00307 }
00308 
00309 }  // namespace itk
00310 
00311 
00312 // Define instantiation macro for this template.
00313 #define ITK_TEMPLATE_Rigid2DTransform(_, EXPORT, x, y) namespace itk { \
00314   _(1(class EXPORT Rigid2DTransform< ITK_TEMPLATE_1 x >)) \
00315   namespace Templates { typedef Rigid2DTransform< ITK_TEMPLATE_1 x > Rigid2DTransform##y; } \
00316   }
00317 
00318 #if ITK_TEMPLATE_EXPLICIT
00319 # include "Templates/itkRigid2DTransform+-.h"
00320 #endif
00321 
00322 #if ITK_TEMPLATE_TXX
00323 # include "itkRigid2DTransform.txx"
00324 #endif
00325 
00326 #endif /* __itkRigid2DTransform_h */
00327 

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