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<typename TParametersValueType=double >
class ITK_TEMPLATE_EXPORT Euler3DTransform :
  public Rigid3DTransform<TParametersValueType>
{
public:
  ITK_DISALLOW_COPY_AND_ASSIGN(Euler3DTransform);

  using Self = Euler3DTransform;
  using Superclass = Rigid3DTransform<TParametersValueType>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkNewMacro(Self);

  itkTypeMacro(Euler3DTransform, Rigid3DTransform);

  static constexpr unsigned int SpaceDimension = 3;
  static constexpr unsigned int InputSpaceDimension = 3;
  static constexpr unsigned int OutputSpaceDimension = 3;
  static constexpr unsigned int ParametersDimension = 6;

  using ParametersType = typename Superclass::ParametersType;
  using ParametersValueType = typename Superclass::ParametersValueType;
  using FixedParametersType = typename Superclass::FixedParametersType;
  using FixedParametersValueType = typename Superclass::FixedParametersValueType;
  using JacobianType = typename Superclass::JacobianType;
  using JacobianPositionType = typename Superclass::JacobianPositionType;
  using InverseJacobianPositionType = typename Superclass::InverseJacobianPositionType;
  using ScalarType = typename Superclass::ScalarType;
  using InputVectorType = typename Superclass::InputVectorType;
  using OutputVectorType = typename Superclass::OutputVectorType;
  using InputCovariantVectorType = typename Superclass::InputCovariantVectorType;
  using OutputCovariantVectorType = typename Superclass::OutputCovariantVectorType;
  using InputVnlVectorType = typename Superclass::InputVnlVectorType;
  using OutputVnlVectorType = typename Superclass::OutputVnlVectorType;
  using InputPointType = typename Superclass::InputPointType;
  using OutputPointType = typename Superclass::OutputPointType;
  using MatrixType = typename Superclass::MatrixType;
  using InverseMatrixType = typename Superclass::InverseMatrixType;
  using CenterType = typename Superclass::CenterType;
  using TranslationType = typename Superclass::TranslationType;
  using OffsetType = typename Superclass::OffsetType;
  using AngleType = typename Superclass::ScalarType;

  void SetParameters(const ParametersType & parameters) override;

  const ParametersType & GetParameters() const override;

  const FixedParametersType & GetFixedParameters() const override;
  void SetFixedParameters(const FixedParametersType & parameters) override;

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

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

  void ComputeJacobianWithRespectToParameters( const InputPointType  & p, JacobianType & jacobian) const override;
  using Superclass::ComputeJacobianWithRespectToPosition;

  virtual void SetComputeZYX (const bool flag);
  itkGetConstMacro(ComputeZYX, bool);

  void SetIdentity() override;

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

  ~Euler3DTransform() override = default;

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

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

  void ComputeMatrix() override;

  void ComputeMatrixParameters() override;

private:
  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 */