itkTranslationTransform.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 itkTranslationTransform_h
#define itkTranslationTransform_h

#include "itkTransform.h"
#include "itkMacro.h"
#include "itkMatrix.h"

namespace itk
{

template<typename TParametersValueType=double,
           unsigned int NDimensions = 3>
class ITK_TEMPLATE_EXPORT TranslationTransform :
  public Transform<TParametersValueType, NDimensions, NDimensions>
{
public:
  typedef TranslationTransform                                      Self;
  typedef Transform<TParametersValueType, NDimensions, NDimensions> Superclass;
  typedef SmartPointer<Self>                                        Pointer;
  typedef SmartPointer<const Self>                                  ConstPointer;

  itkNewMacro(Self);

  itkTypeMacro(TranslationTransform, Transform);

  itkStaticConstMacro(SpaceDimension, unsigned int, NDimensions);
  itkStaticConstMacro(ParametersDimension, unsigned int, NDimensions);

  typedef typename Superclass::ScalarType ScalarType;

  typedef typename Superclass::FixedParametersType FixedParametersType;
  typedef typename Superclass::ParametersType      ParametersType;

  typedef typename Superclass::JacobianType JacobianType;

  typedef typename Superclass::NumberOfParametersType NumberOfParametersType;

  typedef Vector<TParametersValueType, NDimensions> InputVectorType;
  typedef Vector<TParametersValueType, NDimensions> OutputVectorType;

  typedef CovariantVector<TParametersValueType, NDimensions> InputCovariantVectorType;
  typedef CovariantVector<TParametersValueType, NDimensions> OutputCovariantVectorType;

  typedef vnl_vector_fixed<TParametersValueType, NDimensions> InputVnlVectorType;
  typedef vnl_vector_fixed<TParametersValueType, NDimensions> OutputVnlVectorType;

  typedef Point<TParametersValueType, NDimensions> InputPointType;
  typedef Point<TParametersValueType, NDimensions> OutputPointType;

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

  typedef typename Superclass::TransformCategoryType TransformCategoryType;

  const OutputVectorType & GetOffset(void) const
  {
    return m_Offset;
  }

  virtual void SetParameters(const ParametersType & parameters) ITK_OVERRIDE;

  virtual const ParametersType & GetParameters() const ITK_OVERRIDE;

  void SetOffset(const OutputVectorType & offset)
  {
    m_Offset = offset; return;
  }

  void Compose(const Self *other, bool pre = 0);

  void Translate(const OutputVectorType & offset, bool pre = 0);

  OutputPointType     TransformPoint(const InputPointType  & point) const ITK_OVERRIDE;

  using Superclass::TransformVector;
  OutputVectorType    TransformVector(const InputVectorType & vector) const ITK_OVERRIDE;

  OutputVnlVectorType TransformVector(const InputVnlVectorType & vector) const ITK_OVERRIDE;

  using Superclass::TransformCovariantVector;
  OutputCovariantVectorType TransformCovariantVector(const InputCovariantVectorType & vector) const ITK_OVERRIDE;

  inline InputPointType    BackTransform(const OutputPointType  & point) const;

  inline InputVectorType   BackTransform(const OutputVectorType & vector) const;

  inline InputVnlVectorType BackTransform(const OutputVnlVectorType & vector) const;

  inline InputCovariantVectorType BackTransform(const OutputCovariantVectorType & vector) const;

  bool GetInverse(Self *inverse) const;

  virtual InverseTransformBasePointer GetInverseTransform() const ITK_OVERRIDE;

  virtual void ComputeJacobianWithRespectToParameters(const InputPointType & point, JacobianType & j) const ITK_OVERRIDE;

  virtual void ComputeJacobianWithRespectToPosition(const InputPointType & x, JacobianType & jac) const ITK_OVERRIDE;

  void SetIdentity();

  virtual NumberOfParametersType GetNumberOfParameters() const ITK_OVERRIDE
  {
    return NDimensions;
  }

  virtual bool IsLinear() const ITK_OVERRIDE
  {
    return true;
  }

  virtual TransformCategoryType GetTransformCategory() const ITK_OVERRIDE
  {
    return Self::Linear;
  }

  virtual void SetFixedParameters(const FixedParametersType &) ITK_OVERRIDE
  {
  }

  virtual const FixedParametersType & GetFixedParameters() const ITK_OVERRIDE
  {
    this->m_FixedParameters.SetSize(0);
    return this->m_FixedParameters;
  }

protected:
  TranslationTransform();
  ~TranslationTransform() ITK_OVERRIDE;
  virtual void PrintSelf(std::ostream & os, Indent indent) const ITK_OVERRIDE;

private:
  ITK_DISALLOW_COPY_AND_ASSIGN(TranslationTransform);

  JacobianType     m_IdentityJacobian;
  OutputVectorType m_Offset; // Offset of the transformation
};                           // class TranslationTransform

// Back transform a point
template<typename TParametersValueType, unsigned int NDimensions>
inline
typename TranslationTransform<TParametersValueType, NDimensions>::InputPointType
TranslationTransform<TParametersValueType, NDimensions>::BackTransform(const OutputPointType & point) const
{
  return point - m_Offset;
}

// Back transform a vector
template<typename TParametersValueType, unsigned int NDimensions>
inline
typename TranslationTransform<TParametersValueType, NDimensions>::InputVectorType
TranslationTransform<TParametersValueType, NDimensions>::BackTransform(const OutputVectorType & vect) const
{
  return vect;
}

// Back transform a vnl_vector
template<typename TParametersValueType, unsigned int NDimensions>
inline
typename TranslationTransform<TParametersValueType, NDimensions>::InputVnlVectorType
TranslationTransform<TParametersValueType, NDimensions>::BackTransform(const OutputVnlVectorType & vect) const
{
  return vect;
}

// Back Transform a CovariantVector
template<typename TParametersValueType, unsigned int NDimensions>
inline
typename TranslationTransform<TParametersValueType, NDimensions>::InputCovariantVectorType
TranslationTransform<TParametersValueType, NDimensions>::BackTransform(const OutputCovariantVectorType & vect) const
{
  return vect;
}

}  // namespace itk

#ifndef ITK_MANUAL_INSTANTIATION
#include "itkTranslationTransform.hxx"
#endif

#endif /* itkTranslationTransform_h */