itkRigid3DTransform.h

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/*=========================================================================
 *
 *  Copyright Insight Software Consortium
 *
 *  Licensed under the Apache License, Version 2.0 (the "License");
 *  you may not use this file except in compliance with the License.
 *  You may obtain a copy of the License at
 *
 *         http://www.apache.org/licenses/LICENSE-2.0.txt
 *
 *  Unless required by applicable law or agreed to in writing, software
 *  distributed under the License is distributed on an "AS IS" BASIS,
 *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *  See the License for the specific language governing permissions and
 *  limitations under the License.
 *
 *=========================================================================*/
#ifndef __itkRigid3DTransform_h
#define __itkRigid3DTransform_h

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

namespace itk
{
template< class TScalarType = double >
// type for scalars (float or double)
class ITK_EXPORT Rigid3DTransform:
  public MatrixOffsetTransformBase< TScalarType, 3, 3 >
{
public:
  typedef Rigid3DTransform                               Self;
  typedef MatrixOffsetTransformBase< TScalarType, 3, 3 > Superclass;
  typedef SmartPointer< Self >                           Pointer;
  typedef SmartPointer< const Self >                     ConstPointer;

#ifdef ITKV3_COMPATIBILITY

  itkNewMacro(Self);
#endif

  itkTypeMacro(Rigid3DTransform, MatrixOffsetTransformBase);

  itkStaticConstMacro(SpaceDimension, unsigned int, 3);
  itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(ParametersDimension, unsigned int, 12);

  typedef typename Superclass::ParametersType            ParametersType;
  typedef typename Superclass::ParametersValueType       ParametersValueType;
  typedef typename Superclass::JacobianType              JacobianType;
  typedef typename Superclass::ScalarType                ScalarType;
  typedef typename Superclass::InputVectorType           InputVectorType;
  typedef typename Superclass::OutputVectorType          OutputVectorType;
  typedef typename Superclass::OutputVectorValueType     OutputVectorValueType;
  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;
  typedef typename Superclass::MatrixType                MatrixType;
  typedef typename Superclass::InverseMatrixType         InverseMatrixType;
  typedef typename Superclass::MatrixValueType           MatrixValueType;
  typedef typename Superclass::CenterType                CenterType;
  typedef typename Superclass::TranslationType           TranslationType;
  typedef typename Superclass::OffsetType                OffsetType;

  typedef typename Superclass::InverseTransformBaseType InverseTransformBaseType;
  typedef typename InverseTransformBaseType::Pointer    InverseTransformBasePointer;

  virtual void SetParameters(const ParametersType & parameters);

  virtual void SetMatrix(const MatrixType & matrix);

  const MatrixType & GetRotationMatrix() const
  { return this->GetMatrix(); }

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

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

#ifdef ITKV3_COMPATIBILITY

  bool GetInverse(Self *inverse) const
  {
  return this->Superclass::GetInverse(inverse);
  }

virtual InverseTransformBasePointer GetInverseTransform() const
  {
  Pointer inv = New();
  return this->GetInverse(inv) ? inv.GetPointer() : NULL;
  }
#endif


  InputPointType      BackTransform(const OutputPointType
                                    & point) const;

  InputVectorType     BackTransform(const OutputVectorType
                                    & vector) const;

  InputVnlVectorType  BackTransform(const OutputVnlVectorType
                                    & vector) const;

  InputCovariantVectorType BackTransform(const OutputCovariantVectorType
                                         & vector) const;

  bool MatrixIsOrthogonal(const MatrixType & matrix, double tol = 1e-10);

protected:
  Rigid3DTransform(const MatrixType & matrix,
                   const OutputVectorType & offset);
  Rigid3DTransform(unsigned int paramDim);
  Rigid3DTransform();
  ~Rigid3DTransform();

  void PrintSelf(std::ostream & os, Indent indent) const;

private:
  Rigid3DTransform(const Self &); //purposely not implemented
  void operator=(const Self &);   //purposely not implemented
};                                //class Rigid3DTransform
}  // namespace itk

// Define instantiation macro for this template.
#define ITK_TEMPLATE_Rigid3DTransform(_, EXPORT, TypeX, TypeY)                \
  namespace itk                                                               \
  {                                                                           \
  _( 1 ( class EXPORT Rigid3DTransform< ITK_TEMPLATE_1 TypeX > ) )            \
  namespace Templates                                                         \
  {                                                                           \
  typedef Rigid3DTransform< ITK_TEMPLATE_1 TypeX > Rigid3DTransform##TypeY; \
  }                                                                           \
  }

#if ITK_TEMPLATE_EXPLICIT
#include "Templates/itkRigid3DTransform+-.h"
#endif

#if ITK_TEMPLATE_TXX
#include "itkRigid3DTransform.hxx"
#endif

#endif /* __itkRigid3DTransform_h */