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:
  ITK_DISALLOW_COPY_AND_ASSIGN(TranslationTransform);

  using Self = TranslationTransform;
  using Superclass = Transform<TParametersValueType, NDimensions, NDimensions>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkNewMacro(Self);

  itkTypeMacro(TranslationTransform, Transform);

  static constexpr unsigned int SpaceDimension = NDimensions;
  static constexpr unsigned int ParametersDimension = NDimensions;

  using ScalarType = typename Superclass::ScalarType;

  using FixedParametersType = typename Superclass::FixedParametersType;
  using ParametersType = typename Superclass::ParametersType;

  using JacobianType = typename Superclass::JacobianType;
  using JacobianPositionType = typename Superclass::JacobianPositionType;
  using InverseJacobianPositionType = typename Superclass::InverseJacobianPositionType;

  using NumberOfParametersType = typename Superclass::NumberOfParametersType;

  using InputVectorType = Vector<TParametersValueType, NDimensions>;
  using OutputVectorType = Vector<TParametersValueType, NDimensions>;

  using InputCovariantVectorType = CovariantVector<TParametersValueType, NDimensions>;
  using OutputCovariantVectorType = CovariantVector<TParametersValueType, NDimensions>;

  using InputVnlVectorType = vnl_vector_fixed<TParametersValueType, NDimensions>;
  using OutputVnlVectorType = vnl_vector_fixed<TParametersValueType, NDimensions>;

  using InputPointType = Point<TParametersValueType, NDimensions>;
  using OutputPointType = Point<TParametersValueType, NDimensions>;

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

  using TransformCategoryType = typename Superclass::TransformCategoryType;

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

  void SetParameters(const ParametersType & parameters) override;

  const ParametersType & GetParameters() const override;

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

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

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

  OutputPointType     TransformPoint(const InputPointType  & point) const override;

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

  OutputVnlVectorType TransformVector(const InputVnlVectorType & vector) const override;

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

  InverseTransformBasePointer GetInverseTransform() const override;

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


  void ComputeJacobianWithRespectToPosition(const InputPointType & x, JacobianPositionType & jac) const override;
  using Superclass::ComputeJacobianWithRespectToPosition;

  void SetIdentity();

  NumberOfParametersType GetNumberOfParameters() const override
  {
    return NDimensions;
  }

  bool IsLinear() const override
  {
    return true;
  }

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

  void SetFixedParameters(const FixedParametersType &) override
  {
  }

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

protected:
  TranslationTransform();
  ~TranslationTransform() override = default;
  void PrintSelf(std::ostream & os, Indent indent) const override;

private:
  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 */