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itkRigid3DTransform.h

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00001 /*=========================================================================
00002 
00003   Program:   Insight Segmentation & Registration Toolkit
00004   Module:    $RCSfile: itkRigid3DTransform.h,v $
00005   Language:  C++
00006   Date:      $Date: 2005/03/09 16:46:13 $
00007   Version:   $Revision: 1.35 $
00008 
00009   Copyright (c) Insight Software Consortium. All rights reserved.
00010   See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.
00011 
00012      This software is distributed WITHOUT ANY WARRANTY; without even 
00013      the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
00014      PURPOSE.  See the above copyright notices for more information.
00015 
00016 =========================================================================*/
00017 #ifndef __itkRigid3DTransform_h
00018 #define __itkRigid3DTransform_h
00019 
00020 #include <iostream>
00021 #include "itkMatrixOffsetTransformBase.h"
00022 #include "itkExceptionObject.h"
00023 #include "itkMatrix.h"
00024 #include "itkVersor.h"
00025 
00026 namespace itk
00027 {
00028 
00035 template < class TScalarType=double >    // type for scalars (float or double)
00036 class ITK_EXPORT Rigid3DTransform :
00037    public MatrixOffsetTransformBase< TScalarType, 3, 3> 
00038 {
00039 public:
00041   typedef Rigid3DTransform                                 Self;
00042   typedef MatrixOffsetTransformBase< TScalarType, 3, 3 >   Superclass;
00043   typedef SmartPointer<Self>                               Pointer;
00044   typedef SmartPointer<const Self>                         ConstPointer;
00045 
00047   itkTypeMacro( Rigid3DTransform, MatrixOffsetTransformBase );
00048 
00050   itkNewMacro( Self );
00051 
00053   itkStaticConstMacro(SpaceDimension, unsigned int, 3);
00054   itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
00055   itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
00056   itkStaticConstMacro(ParametersDimension, unsigned int, 12);
00058 
00059   typedef typename Superclass::ParametersType             ParametersType;
00060   typedef typename Superclass::JacobianType               JacobianType;
00061   typedef typename Superclass::ScalarType                 ScalarType;
00062   typedef typename Superclass::InputVectorType            InputVectorType;
00063   typedef typename Superclass::OutputVectorType           OutputVectorType;
00064   typedef typename Superclass::InputCovariantVectorType  
00065                                                      InputCovariantVectorType;
00066   typedef typename Superclass::OutputCovariantVectorType  
00067                                                      OutputCovariantVectorType;
00068   typedef typename Superclass::InputVnlVectorType         InputVnlVectorType;
00069   typedef typename Superclass::OutputVnlVectorType        OutputVnlVectorType;
00070   typedef typename Superclass::InputPointType             InputPointType;
00071   typedef typename Superclass::OutputPointType            OutputPointType;
00072   typedef typename Superclass::MatrixType                 MatrixType;
00073   typedef typename Superclass::InverseMatrixType          InverseMatrixType;
00074   typedef typename Superclass::CenterType                 CenterType;
00075   typedef typename Superclass::TranslationType            TranslationType;
00076   typedef typename Superclass::OffsetType                 OffsetType;
00077 
00086    const MatrixType & GetRotationMatrix()
00087      { return this->GetMatrix(); }
00088 
00099   virtual void SetRotationMatrix(const MatrixType & matrix)
00100       { this->SetMatrix(matrix); }
00101 
00109   void Translate(const OffsetType & offset, bool pre=false);
00110 
00117   OutputCovariantVectorType TransformCovariantVector(
00118                                 const InputCovariantVectorType &vector) const;
00119 
00131   inline InputPointType      BackTransform(const OutputPointType 
00132                                                    &point ) const;
00133   inline InputVectorType     BackTransform(const OutputVectorType 
00134                                                    &vector) const;
00135   inline InputVnlVectorType  BackTransform( const OutputVnlVectorType
00136                                                    &vector) const;
00137   inline InputCovariantVectorType BackTransform(const OutputCovariantVectorType
00138                                                    &vector) const;
00140 
00141 protected:
00142   Rigid3DTransform(unsigned int spaceDim,
00143                    unsigned int paramDim);
00144   Rigid3DTransform(const MatrixType & matrix,
00145                    const OutputVectorType & offset);
00146   Rigid3DTransform();
00147   ~Rigid3DTransform();
00148   
00152   void PrintSelf(std::ostream &os, Indent indent) const;
00153 
00154 private:
00155   Rigid3DTransform(const Self&); //purposely not implemented
00156   void operator=(const Self&); //purposely not implemented
00157   
00158 }; //class Rigid3DTransform
00159 
00160 
00161 }  // namespace itk
00162 
00163 
00164 #ifndef ITK_MANUAL_INSTANTIATION
00165 #include "itkRigid3DTransform.txx"
00166 #endif
00167 
00168 #endif /* __itkRigid3DTransform_h */
00169 

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