itkRigid2DTransform.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 itkRigid2DTransform_h
#define itkRigid2DTransform_h

#include "itkMatrixOffsetTransformBase.h"

namespace itk
{
template<typename TParametersValueType=double>
class Rigid2DTransform :
  public MatrixOffsetTransformBase<TParametersValueType, 2, 2>
{
public:
  typedef Rigid2DTransform                                      Self;
  typedef MatrixOffsetTransformBase<TParametersValueType, 2, 2> Superclass;
  typedef SmartPointer<Self>                                    Pointer;
  typedef SmartPointer<const Self>                              ConstPointer;

  itkTypeMacro(Rigid2DTransform, MatrixOffsetTransformBase);

  itkNewMacro(Self);

  itkStaticConstMacro(InputSpaceDimension, unsigned int, 2);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 2);
  itkStaticConstMacro(ParametersDimension, unsigned int, 3);

  typedef typename Superclass::ScalarType ScalarType;

  typedef typename Superclass::ParametersType           ParametersType;
  typedef typename Superclass::ParametersValueType      ParametersValueType;
  typedef typename Superclass::FixedParametersType      FixedParametersType;
  typedef typename Superclass::FixedParametersValueType FixedParametersValueType;

  typedef typename Superclass::JacobianType JacobianType;

  // / Standard matrix type for this class
  typedef typename Superclass::MatrixType      MatrixType;
  typedef typename Superclass::MatrixValueType MatrixValueType;

  // / Standard vector type for this class
  typedef typename Superclass::OffsetType      OffsetType;
  typedef typename Superclass::OffsetValueType OffsetValueType;

  // / Standard vector type for this class
  typedef typename Superclass::InputVectorType       InputVectorType;
  typedef typename Superclass::OutputVectorType      OutputVectorType;
  typedef typename Superclass::OutputVectorValueType OutputVectorValueType;

  // / Standard covariant vector type for this class
  typedef typename Superclass::InputCovariantVectorType  InputCovariantVectorType;
  typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType;

  // / Standard vnl_vector type for this class
  typedef typename Superclass::InputVnlVectorType  InputVnlVectorType;
  typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;

  // / Standard coordinate point type for this class
  typedef typename Superclass::InputPointType  InputPointType;
  typedef typename Superclass::OutputPointType OutputPointType;

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

  virtual void SetMatrix(const MatrixType & matrix) ITK_OVERRIDE;

  virtual void SetMatrix(const MatrixType & matrix, double tolerance);

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

  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;

  void SetAngle(TParametersValueType angle);

  itkGetConstReferenceMacro(Angle, TParametersValueType);

  void SetAngleInDegrees(TParametersValueType angle);

  void SetRotation(TParametersValueType angle)
  {
    this->SetAngle(angle);
  }
  virtual const TParametersValueType & GetRotation() const
  {
    return m_Angle;
  }

  virtual void SetParameters(const ParametersType & parameters) ITK_OVERRIDE;

  virtual const ParametersType & GetParameters() const ITK_OVERRIDE;

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

  void CloneInverseTo(Pointer & newinverse) const;

  bool GetInverse(Self *inverse) const;

  virtual InverseTransformBasePointer GetInverseTransform() const ITK_OVERRIDE;

  void CloneTo(Pointer & clone) const;

  virtual void SetIdentity() ITK_OVERRIDE;

#ifdef ITKV3_COMPATIBILITY

  itkLegacyMacro(virtual void SetRotationMatrix(const MatrixType & matrix));
  itkLegacyMacro(const MatrixType & GetRotationMatrix() const);
#endif


protected:
  Rigid2DTransform(unsigned int outputSpaceDimension, unsigned int parametersDimension);
  Rigid2DTransform(unsigned int parametersDimension);
  Rigid2DTransform();

  ~Rigid2DTransform();

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

  virtual void ComputeMatrix() ITK_OVERRIDE;

  virtual void ComputeMatrixParameters() ITK_OVERRIDE;

  void SetVarAngle(TParametersValueType angle)
  {
    m_Angle = angle;
  }

private:
  Rigid2DTransform(const Self &); // purposely not implemented
  void operator=(const Self &);   // purposely not implemented

  TParametersValueType m_Angle;

}; // class Rigid2DTransform

// Back transform a point
template<typename TParametersValueType>
inline
typename Rigid2DTransform<TParametersValueType>::InputPointType
Rigid2DTransform<TParametersValueType>::BackTransform(const OutputPointType & point) const
{
  itkWarningMacro(
    <<
    "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."
    );
  return this->GetInverseMatrix() * ( point - this->GetOffset() );
}

// Back transform a vector
template<typename TParametersValueType>
inline
typename Rigid2DTransform<TParametersValueType>::InputVectorType
Rigid2DTransform<TParametersValueType>::BackTransform(const OutputVectorType & vect) const
{
  itkWarningMacro(
    <<
    "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."
    );
  return this->GetInverseMatrix() * vect;
}

// Back transform a vnl_vector
template<typename TParametersValueType>
inline
typename Rigid2DTransform<TParametersValueType>::InputVnlVectorType
Rigid2DTransform<TParametersValueType>::BackTransform(const OutputVnlVectorType & vect) const
{
  itkWarningMacro(
    <<
    "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."
    );
  return this->GetInverseMatrix() * vect;
}

// Back Transform a CovariantVector
template<typename TParametersValueType>
inline
typename Rigid2DTransform<TParametersValueType>::InputCovariantVectorType
Rigid2DTransform<TParametersValueType>::BackTransform(const OutputCovariantVectorType & vect) const
{
  itkWarningMacro(
    <<
    "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."
    );
  return this->GetMatrix() * vect;
}

}  // namespace itk

#ifndef ITK_MANUAL_INSTANTIATION
#include "itkRigid2DTransform.hxx"
#endif

#endif /* itkRigid2DTransform_h */