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itkAdvancedRigid3DTransform.h
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1 /*=========================================================================
2 
3  Program: Insight Segmentation & Registration Toolkit
4  Module: $RCSfile: itkAdvancedRigid3DTransform.h,v $
5  Language: C++
6  Date: $Date: 2007-02-13 21:46:04 $
7  Version: $Revision: 1.38 $
8 
9  Copyright (c) Insight Software Consortium. All rights reserved.
10  See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.
11 
12  This software is distributed WITHOUT ANY WARRANTY; without even
13  the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
14  PURPOSE. See the above copyright notices for more information.
15 
16 =========================================================================*/
17 #ifndef __itkAdvancedRigid3DTransform_h
18 #define __itkAdvancedRigid3DTransform_h
19 
20 #include <iostream>
22 #include "itkExceptionObject.h"
23 #include "itkMatrix.h"
24 #include "itkVersor.h"
25 
26 namespace itk
27 {
28 
48 template < class TScalarType=double > // type for scalars (float or double)
49 class ITK_EXPORT AdvancedRigid3DTransform :
50  public AdvancedMatrixOffsetTransformBase< TScalarType, 3, 3>
51 {
52 public:
56  typedef SmartPointer<Self> Pointer;
57  typedef SmartPointer<const Self> ConstPointer;
58 
61 
63  itkNewMacro( Self );
64 
66  itkStaticConstMacro(SpaceDimension, unsigned int, 3);
67  itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
68  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
69  itkStaticConstMacro(ParametersDimension, unsigned int, 12);
70 
73  typedef typename Superclass::ScalarType ScalarType;
89 
90  typedef typename Superclass
93  typedef typename Superclass
96  typedef typename Superclass
99 
110  virtual void SetParameters( const ParametersType & parameters );
111 
117  virtual void SetMatrix(const MatrixType &matrix);
118 
128  { return this->GetMatrix(); }
129 
140  virtual void SetRotationMatrix(const MatrixType & matrix)
141  { this->SetMatrix(matrix); }
142 
150  void Translate(const OffsetType & offset, bool pre=false);
151 
163  InputPointType BackTransform(const OutputPointType
164  &point ) const;
165  InputVectorType BackTransform(const OutputVectorType
166  &vector) const;
167  InputVnlVectorType BackTransform( const OutputVnlVectorType
168  &vector) const;
169  InputCovariantVectorType BackTransform(const OutputCovariantVectorType
170  &vector) const;
171 
176  bool MatrixIsOrthogonal( const MatrixType & matrix, double tol = 1e-10 );
177 
178 protected:
179  AdvancedRigid3DTransform(unsigned int spaceDim,
180  unsigned int paramDim);
181  AdvancedRigid3DTransform(const MatrixType & matrix,
182  const OutputVectorType & offset);
185 
189  void PrintSelf(std::ostream &os, Indent indent) const;
190 
191 private:
192  AdvancedRigid3DTransform(const Self&); //purposely not implemented
193  void operator=(const Self&); //purposely not implemented
194 
195 }; //class AdvancedRigid3DTransform
196 
197 
198 } // namespace itk
199 
200 // Define instantiation macro for this template.
201 #define ITK_TEMPLATE_AdvancedRigid3DTransform(_, EXPORT, x, y) namespace itk { \
202  _(1(class EXPORT AdvancedRigid3DTransform< ITK_TEMPLATE_1 x >)) \
203  namespace Templates { typedef AdvancedRigid3DTransform< ITK_TEMPLATE_1 x > AdvancedRigid3DTransform##y; } \
204  }
205 
206 #if ITK_TEMPLATE_EXPLICIT
207 # include "Templates/itkAdvancedRigid3DTransform+-.h"
208 #endif
209 
210 #if ITK_TEMPLATE_TXX
211 # include "itkAdvancedRigid3DTransform.txx"
212 #endif
213 
214 #endif /* __itkAdvancedRigid3DTransform_h */
Superclass::NonZeroJacobianIndicesType NonZeroJacobianIndicesType
Superclass::SpatialHessianType SpatialHessianType
Superclass::SpatialJacobianType SpatialJacobianType
Superclass::TranslationType TranslationType
Superclass::OutputVnlVectorType OutputVnlVectorType
Superclass::JacobianOfSpatialJacobianType JacobianOfSpatialJacobianType
Superclass::OutputVectorType OutputVectorType
AdvancedRigid3DTransform of a vector space (e.g. space coordinates)
Superclass::InternalMatrixType InternalMatrixType
Superclass::JacobianOfSpatialHessianType JacobianOfSpatialHessianType
Superclass::InputCovariantVectorType InputCovariantVectorType
Superclass::InputVectorType InputVectorType
virtual void SetRotationMatrix(const MatrixType &matrix)
AdvancedMatrixOffsetTransformBase< TScalarType, 3, 3 > Superclass
Superclass::OutputCovariantVectorType OutputCovariantVectorType
Superclass::ParametersType ParametersType
SmartPointer< const Self > ConstPointer
Superclass::OutputPointType OutputPointType
Superclass::InputPointType InputPointType
Superclass::InverseMatrixType InverseMatrixType
Superclass::InputVnlVectorType InputVnlVectorType


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