itkRigid3DTransform.h

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/*=========================================================================

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkRigid3DTransform.h,v $
  Language:  C++
  Date:      $Date: 2003/10/28 15:38:18 $
  Version:   $Revision: 1.28 $

  Copyright (c) Insight Software Consortium. All rights reserved.
  See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.

     This software is distributed WITHOUT ANY WARRANTY; without even 
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
     PURPOSE.  See the above copyright notices for more information.

=========================================================================*/
#ifndef __itkRigid3DTransform_h
#define __itkRigid3DTransform_h

#include <iostream>
#include "itkTransform.h"
#include "itkExceptionObject.h"
#include "vnl/vnl_quaternion.h"
#include "itkMatrix.h"
#include "itkVersor.h"

namespace itk
{

template < class TScalarType=double >    // Data type for scalars (float or double)
class ITK_EXPORT Rigid3DTransform : 
        public Transform< TScalarType, 3, 3> // Dimensions of input and output spaces
{
public:
  typedef Rigid3DTransform Self;
  typedef Transform< TScalarType, 3, 3 > Superclass;
  typedef SmartPointer<Self>        Pointer;
  typedef SmartPointer<const Self>  ConstPointer;
  
  itkTypeMacro( Rigid3DTransform, Transform );

  itkNewMacro( Self );

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

  typedef typename Superclass::ScalarType  ScalarType;

  typedef typename Superclass::ParametersType  ParametersType;

  typedef typename Superclass::JacobianType  JacobianType;

  typedef Matrix<ScalarType, itkGetStaticConstMacro(InputSpaceDimension), itkGetStaticConstMacro(InputSpaceDimension)> MatrixType;

  typedef Vector<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)> OffsetType;

  typedef Vector<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)> InputVectorType;
  typedef Vector<TScalarType, itkGetStaticConstMacro(OutputSpaceDimension)> OutputVectorType;

  typedef CovariantVector<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)> InputCovariantVectorType;
  typedef CovariantVector<TScalarType, itkGetStaticConstMacro(OutputSpaceDimension)> OutputCovariantVectorType;

  typedef vnl_vector_fixed<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)> InputVnlVectorType;
  typedef vnl_vector_fixed<TScalarType, itkGetStaticConstMacro(OutputSpaceDimension)> OutputVnlVectorType;

  typedef Point<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)>    InputPointType;
  typedef Point<TScalarType, itkGetStaticConstMacro(OutputSpaceDimension)>    OutputPointType;

  typedef vnl_quaternion<TScalarType>           VnlQuaternionType;

  typedef Versor<TScalarType>           VersorType;


   itkGetConstMacro( Offset, OffsetType );

   itkGetConstMacro( RotationMatrix, MatrixType );


  itkSetMacro( Offset, OffsetType );


  void SetRotationMatrix(const MatrixType &matrix);


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


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


  OutputPointType     TransformPoint(const InputPointType  &point ) const;
  OutputVectorType    TransformVector(const InputVectorType &vector) const;
  OutputVnlVectorType    TransformVector(const InputVnlVectorType &vector) const;

  OutputCovariantVectorType TransformCovariantVector(
                                 const InputCovariantVectorType &vector) const;

  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;

  Pointer Inverse( void ) const;

  virtual void SetIdentity(void);

  virtual const JacobianType & GetJacobian(const InputPointType  &point ) const;

protected:
  Rigid3DTransform();
  ~Rigid3DTransform();

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

  Rigid3DTransform(unsigned int SpaceDimension, unsigned int ParametersDimension);
  // matrix representation of the rotation
  // Should be protected in order to be modified 
  // by derived classes that instantiate an interface
  // to rotation computation
  MatrixType          m_RotationMatrix;   

  // representation of the inverse rottion
  MatrixType          m_InverseMatrix; 

private:
  Rigid3DTransform(const Self&); //purposely not implemented
  void operator=(const Self&); //purposely not implemented

  // Offset of the transformation
  OffsetType          m_Offset;   

}; //class Rigid3DTransform


}  // namespace itk


#ifndef ITK_MANUAL_INSTANTIATION
#include "itkRigid3DTransform.txx"
#endif

#endif /* __itkRigid3DTransform_h */

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