itkEuler3DTransform.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 __itkEuler3DTransform_h
#define __itkEuler3DTransform_h

#include <iostream>
#include "itkRigid3DTransform.h"

namespace itk
{
template <class TScalarType = double>
// Data type for scalars (float or double)
class ITK_EXPORT Euler3DTransform :
  public Rigid3DTransform<TScalarType>
{
public:
  typedef Euler3DTransform              Self;
  typedef Rigid3DTransform<TScalarType> Superclass;
  typedef SmartPointer<Self>            Pointer;
  typedef SmartPointer<const Self>      ConstPointer;

  itkNewMacro(Self);

  itkTypeMacro(Euler3DTransform, Rigid3DTransform);

  itkStaticConstMacro(SpaceDimension, unsigned int, 3);
  itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(ParametersDimension, unsigned int, 6);

  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::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::CenterType                CenterType;
  typedef typename Superclass::TranslationType           TranslationType;
  typedef typename Superclass::OffsetType                OffsetType;
  typedef typename Superclass::ScalarType                AngleType;

  void SetParameters(const ParametersType & parameters);

  const ParametersType & GetParameters(void) const;

  void SetRotation(ScalarType angleX, ScalarType angleY, ScalarType angleZ);

  itkGetConstMacro(AngleX, ScalarType);
  itkGetConstMacro(AngleY, ScalarType);
  itkGetConstMacro(AngleZ, ScalarType);

  virtual void ComputeJacobianWithRespectToParameters( const InputPointType  & p, JacobianType & jacobian) const;

  itkSetMacro(ComputeZYX, bool);
  itkGetConstMacro(ComputeZYX, bool);

  virtual void SetIdentity(void);

protected:
  Euler3DTransform(const MatrixType & matrix, const OutputPointType & offset);
  Euler3DTransform(unsigned int paramsSpaceDims);
  Euler3DTransform();

  ~Euler3DTransform()
  {
  }

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

  void SetVarRotation(ScalarType angleX, ScalarType angleY, ScalarType angleZ);

  void ComputeMatrix(void);

  void ComputeMatrixParameters(void);

private:
  Euler3DTransform(const Self &); // purposely not implemented
  void operator=(const Self &);   // purposely not implemented

  ScalarType m_AngleX;
  ScalarType m_AngleY;
  ScalarType m_AngleZ;
  bool       m_ComputeZYX;
}; // class Euler3DTransform
}  // namespace itk

#ifndef ITK_MANUAL_INSTANTIATION
#include "itkEuler3DTransform.hxx"
#endif

#endif /* __itkEuler3DTransform_h */