ITK  4.1.0
Insight Segmentation and Registration Toolkit
itkRigid3DTransform.h
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00001 /*=========================================================================
00002  *
00003  *  Copyright Insight Software Consortium
00004  *
00005  *  Licensed under the Apache License, Version 2.0 (the "License");
00006  *  you may not use this file except in compliance with the License.
00007  *  You may obtain a copy of the License at
00008  *
00009  *         http://www.apache.org/licenses/LICENSE-2.0.txt
00010  *
00011  *  Unless required by applicable law or agreed to in writing, software
00012  *  distributed under the License is distributed on an "AS IS" BASIS,
00013  *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00014  *  See the License for the specific language governing permissions and
00015  *  limitations under the License.
00016  *
00017  *=========================================================================*/
00018 #ifndef __itkRigid3DTransform_h
00019 #define __itkRigid3DTransform_h
00020 
00021 #include <iostream>
00022 #include "itkMatrixOffsetTransformBase.h"
00023 #include "itkVersor.h"
00024 
00025 namespace itk
00026 {
00047 template< class TScalarType = double >
00048 // type for scalars (float or double)
00049 class ITK_EXPORT Rigid3DTransform:
00050   public MatrixOffsetTransformBase< TScalarType, 3, 3 >
00051 {
00052 public:
00054   typedef Rigid3DTransform                               Self;
00055   typedef MatrixOffsetTransformBase< TScalarType, 3, 3 > Superclass;
00056   typedef SmartPointer< Self >                           Pointer;
00057   typedef SmartPointer< const Self >                     ConstPointer;
00058 
00059 #ifdef ITKV3_COMPATIBILITY
00060 
00061   itkNewMacro(Self);
00062 #endif
00063 
00065   itkTypeMacro(Rigid3DTransform, MatrixOffsetTransformBase);
00066 
00068   itkStaticConstMacro(SpaceDimension, unsigned int, 3);
00069   itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
00070   itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
00071   itkStaticConstMacro(ParametersDimension, unsigned int, 12);
00073 
00074   typedef typename Superclass::ParametersType            ParametersType;
00075   typedef typename Superclass::ParametersValueType       ParametersValueType;
00076   typedef typename Superclass::JacobianType              JacobianType;
00077   typedef typename Superclass::ScalarType                ScalarType;
00078   typedef typename Superclass::InputVectorType           InputVectorType;
00079   typedef typename Superclass::OutputVectorType          OutputVectorType;
00080   typedef typename Superclass::OutputVectorValueType     OutputVectorValueType;
00081   typedef typename Superclass::InputCovariantVectorType  InputCovariantVectorType;
00082   typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType;
00083   typedef typename Superclass::InputVnlVectorType        InputVnlVectorType;
00084   typedef typename Superclass::OutputVnlVectorType       OutputVnlVectorType;
00085   typedef typename Superclass::InputPointType            InputPointType;
00086   typedef typename Superclass::OutputPointType           OutputPointType;
00087   typedef typename Superclass::MatrixType                MatrixType;
00088   typedef typename Superclass::InverseMatrixType         InverseMatrixType;
00089   typedef typename Superclass::MatrixValueType           MatrixValueType;
00090   typedef typename Superclass::CenterType                CenterType;
00091   typedef typename Superclass::TranslationType           TranslationType;
00092   typedef typename Superclass::OffsetType                OffsetType;
00093 
00096   typedef typename Superclass::InverseTransformBaseType InverseTransformBaseType;
00097   typedef typename InverseTransformBaseType::Pointer    InverseTransformBasePointer;
00098 
00109   virtual void SetParameters(const ParametersType & parameters);
00110 
00116   virtual void SetMatrix(const MatrixType & matrix);
00117 
00126   const MatrixType & GetRotationMatrix() const
00127   { return this->GetMatrix(); }
00128 
00139   virtual void SetRotationMatrix(const MatrixType & matrix)
00140   { this->SetMatrix(matrix); }
00141 
00149   void Translate(const OffsetType & offset, bool pre = false);
00150 
00151 #ifdef ITKV3_COMPATIBILITY
00152 
00153   bool GetInverse(Self *inverse) const
00154   {
00155   return this->Superclass::GetInverse(inverse);
00156   }
00157 
00159 virtual InverseTransformBasePointer GetInverseTransform() const
00160   {
00161   Pointer inv = New();
00162   return this->GetInverse(inv) ? inv.GetPointer() : NULL;
00163   }
00164 #endif
00165 
00166 
00178   InputPointType      BackTransform(const OutputPointType
00179                                     & point) const;
00180 
00181   InputVectorType     BackTransform(const OutputVectorType
00182                                     & vector) const;
00183 
00184   InputVnlVectorType  BackTransform(const OutputVnlVectorType
00185                                     & vector) const;
00186 
00187   InputCovariantVectorType BackTransform(const OutputCovariantVectorType
00188                                          & vector) const;
00189 
00194   bool MatrixIsOrthogonal(const MatrixType & matrix, double tol = 1e-10);
00195 
00196 protected:
00197   Rigid3DTransform(const MatrixType & matrix,
00198                    const OutputVectorType & offset);
00199   Rigid3DTransform(unsigned int paramDim);
00200   Rigid3DTransform();
00201   ~Rigid3DTransform();
00202 
00206   void PrintSelf(std::ostream & os, Indent indent) const;
00207 
00208 private:
00209   Rigid3DTransform(const Self &); //purposely not implemented
00210   void operator=(const Self &);   //purposely not implemented
00211 };                                //class Rigid3DTransform
00212 }  // namespace itk
00213 
00214 // Define instantiation macro for this template.
00215 #define ITK_TEMPLATE_Rigid3DTransform(_, EXPORT, TypeX, TypeY)                \
00216   namespace itk                                                               \
00217   {                                                                           \
00218   _( 1 ( class EXPORT Rigid3DTransform< ITK_TEMPLATE_1 TypeX > ) )            \
00219   namespace Templates                                                         \
00220   {                                                                           \
00221   typedef Rigid3DTransform< ITK_TEMPLATE_1 TypeX > Rigid3DTransform##TypeY; \
00222   }                                                                           \
00223   }
00224 
00225 #if ITK_TEMPLATE_EXPLICIT
00226 #include "Templates/itkRigid3DTransform+-.h"
00227 #endif
00228 
00229 #if ITK_TEMPLATE_TXX
00230 #include "itkRigid3DTransform.hxx"
00231 #endif
00232 
00233 #endif /* __itkRigid3DTransform_h */
00234