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 ITK_TEMPLATE_EXPORT Rigid2DTransform :
  public MatrixOffsetTransformBase<TParametersValueType, 2, 2>
{
public:
  ITK_DISALLOW_COPY_AND_ASSIGN(Rigid2DTransform);

  using Self = Rigid2DTransform;
  using Superclass = MatrixOffsetTransformBase<TParametersValueType, 2, 2>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkTypeMacro(Rigid2DTransform, MatrixOffsetTransformBase);

  itkNewMacro(Self);

  static constexpr unsigned int InputSpaceDimension = 2;
  static constexpr unsigned int OutputSpaceDimension = 2;
  static constexpr unsigned int ParametersDimension = 3;

  using ScalarType = typename Superclass::ScalarType;

  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;

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

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

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

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

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

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

  using InverseTransformBaseType = typename Superclass::InverseTransformBaseType;
  using InverseTransformBasePointer = typename InverseTransformBaseType::Pointer;

  void SetMatrix(const MatrixType & matrix) override;

  virtual void SetMatrix(const MatrixType & matrix, const TParametersValueType 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;
  }

  void SetParameters(const ParametersType & parameters) override;

  const ParametersType & GetParameters() const override;

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

  void CloneInverseTo(Pointer & newinverse) const;

  bool GetInverse(Self *inverse) const;

  InverseTransformBasePointer GetInverseTransform() const override;

  void CloneTo(Pointer & clone) const;

  void SetIdentity() override;

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

  ~Rigid2DTransform() override = default;

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

  void ComputeMatrix() override;

  void ComputeMatrixParameters() override;

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

private:
  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 */