itkAdvancedRigid3DTransform.h

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

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkAdvancedRigid3DTransform.h,v $
  Language:  C++
  Date:      $Date: 2007-02-13 21:46:04 $
  Version:   $Revision: 1.38 $

  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 __itkAdvancedRigid3DTransform_h
#define __itkAdvancedRigid3DTransform_h

#include <iostream>
#include "itkAdvancedMatrixOffsetTransformBase.h"
#include "itkExceptionObject.h"
#include "itkMatrix.h"
#include "itkVersor.h"

namespace itk
{

template< class TScalarType = double >
// type for scalars (float or double)
class AdvancedRigid3DTransform :
  public AdvancedMatrixOffsetTransformBase< TScalarType, 3, 3 >
{
public:

  typedef AdvancedRigid3DTransform                               Self;
  typedef AdvancedMatrixOffsetTransformBase< TScalarType, 3, 3 > Superclass;
  typedef SmartPointer< Self >                                   Pointer;
  typedef SmartPointer< const Self >                             ConstPointer;

  itkTypeMacro( AdvancedRigid3DTransform, AdvancedMatrixOffsetTransformBase );

  itkNewMacro( Self );

  itkStaticConstMacro( SpaceDimension, unsigned int, 3 );
  itkStaticConstMacro( InputSpaceDimension, unsigned int, 3 );
  itkStaticConstMacro( OutputSpaceDimension, unsigned int, 3 );
  itkStaticConstMacro( ParametersDimension, unsigned int, 12 );

  typedef typename Superclass::ParametersType         ParametersType;
  typedef typename Superclass::NumberOfParametersType NumberOfParametersType;
  typedef typename Superclass::JacobianType           JacobianType;
  typedef typename Superclass::ScalarType             ScalarType;
  typedef typename Superclass::InputVectorType        InputVectorType;
  typedef typename Superclass::OutputVectorType       OutputVectorType;
  typedef typename Superclass::InputCovariantVectorType
    InputCovariantVectorType;
  typedef typename Superclass::OutputCovariantVectorType
    OutputCovariantVectorType;
  typedef typename Superclass::InputVnlVectorType  InputVnlVectorType;
  typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;
  typedef typename Superclass::InputPointType      InputPointType;
  typedef typename Superclass::OutputPointType     OutputPointType;
  typedef typename Superclass::MatrixType          MatrixType;
  typedef typename Superclass::InverseMatrixType   InverseMatrixType;
  typedef typename Superclass::CenterType          CenterType;
  typedef typename Superclass::TranslationType     TranslationType;
  typedef typename Superclass::OffsetType          OffsetType;

  typedef typename Superclass
    ::NonZeroJacobianIndicesType NonZeroJacobianIndicesType;
  typedef typename Superclass::SpatialJacobianType SpatialJacobianType;
  typedef typename Superclass
    ::JacobianOfSpatialJacobianType JacobianOfSpatialJacobianType;
  typedef typename Superclass::SpatialHessianType SpatialHessianType;
  typedef typename Superclass
    ::JacobianOfSpatialHessianType JacobianOfSpatialHessianType;
  typedef typename Superclass::InternalMatrixType InternalMatrixType;

  virtual void SetParameters( const ParametersType & parameters );

  virtual void SetMatrix( const MatrixType & matrix );

  const MatrixType & GetRotationMatrix()
  { return this->GetMatrix(); }

  virtual void SetRotationMatrix( const MatrixType & matrix )
  { this->SetMatrix( matrix ); }

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

  InputPointType      BackTransform( const OutputPointType
    & point ) const;

  InputVectorType     BackTransform( const OutputVectorType
    & vector ) const;

  InputVnlVectorType  BackTransform( const OutputVnlVectorType
    & vector ) const;

  InputCovariantVectorType BackTransform( const OutputCovariantVectorType
    & vector ) const;

  bool MatrixIsOrthogonal( const MatrixType & matrix, double tol = 1e-10 );

protected:

  AdvancedRigid3DTransform( unsigned int paramDim );
  AdvancedRigid3DTransform( const MatrixType & matrix,
    const OutputVectorType & offset );
  AdvancedRigid3DTransform();
  ~AdvancedRigid3DTransform();

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

private:

  AdvancedRigid3DTransform( const Self & ); // purposely not implemented
  void operator=( const Self & );           // purposely not implemented

};

}  // namespace itk

#ifndef ITK_MANUAL_INSTANTIATION
#include "itkAdvancedRigid3DTransform.hxx"
#endif

#endif /* __itkAdvancedRigid3DTransform_h */