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/*
//
// Copyright 1997-2009 Torsten Rohlfing
//
// Copyright 2004-2013 SRI International
//
// This file is part of the Computational Morphometry Toolkit.
//
// http://www.nitrc.org/projects/cmtk/
//
// The Computational Morphometry Toolkit is free software: you can
// redistribute it and/or modify it under the terms of the GNU General Public
// License as published by the Free Software Foundation, either version 3 of
// the License, or (at your option) any later version.
//
// The Computational Morphometry Toolkit is distributed in the hope that it
// will be useful, but WITHOUT ANY WARRANTY; without even the implied
// warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License along
// with the Computational Morphometry Toolkit. If not, see
// <http://www.gnu.org/licenses/>.
//
// $Revision: 5436 $
//
// $LastChangedDate: 2018-12-10 19:01:20 -0800 (Mon, 10 Dec 2018) $
//
// $LastChangedBy: torstenrohlfing $
//
*/
#include "cmtkCompatibilityMatrix4x4.h"
template<class T>
cmtk::CompatibilityMatrix4x4<T>::CompatibilityMatrix4x4( const CoordinateVector& dofs, const bool logScaleFactors )
{
const Units::Radians alpha = Units::Degrees( dofs[3] );
const Units::Radians theta = Units::Degrees( dofs[4] );
const Units::Radians phi = Units::Degrees( dofs[5] );
const double cos0 = MathUtil::Cos(alpha), sin0 = MathUtil::Sin(alpha);
const double cos1 = MathUtil::Cos(theta), sin1 = MathUtil::Sin(theta);
const double cos2 = MathUtil::Cos( phi), sin2 = MathUtil::Sin( phi);
const double sin0xsin1 = sin0 * sin1;
const double cos0xsin1 = cos0 * sin1;
const double scaleX = (logScaleFactors) ? exp( dofs[6] ) : dofs[6];
const double scaleY = (logScaleFactors) ? exp( dofs[7] ) : dofs[7];
const double scaleZ = (logScaleFactors) ? exp( dofs[8] ) : dofs[8];
this->m_Matrix[0][0] = static_cast<T>( cos1*cos2 * scaleX );
this->m_Matrix[0][1] = static_cast<T>( -cos1*sin2 * scaleX );
this->m_Matrix[0][2] = static_cast<T>( -sin1 * scaleX );
this->m_Matrix[0][3] = static_cast<T>( 0 );
this->m_Matrix[1][0] = static_cast<T>( (sin0xsin1*cos2 + cos0*sin2) * scaleY );
this->m_Matrix[1][1] = static_cast<T>( (-sin0xsin1*sin2 + cos0*cos2) * scaleY );
this->m_Matrix[1][2] = static_cast<T>( sin0*cos1 * scaleY );
this->m_Matrix[1][3] = static_cast<T>( 0 );
this->m_Matrix[2][0] = static_cast<T>( (cos0xsin1*cos2 - sin0*sin2) * scaleZ );
this->m_Matrix[2][1] = static_cast<T>( (-cos0xsin1*sin2 - sin0*cos2) * scaleZ );
this->m_Matrix[2][2] = static_cast<T>( cos0*cos1 * scaleZ );
this->m_Matrix[2][3] = static_cast<T>( 0 );
this->m_Matrix[3][0] = this->m_Matrix[3][1] = this->m_Matrix[3][2] = static_cast<T>( 0 );
this->m_Matrix[3][3] = static_cast<T>( 1.0 );
// generate shears
for ( int i = 2; i >= 0; --i )
{
Superclass shear = Superclass::Identity();
shear[i/2][(i/2)+(i%2)+1] = dofs[9+i];
*this *= shear;
}
// transform rotation center
const Types::Coordinate cM[3] =
{
dofs[12]*this->m_Matrix[0][0] + dofs[13]*this->m_Matrix[1][0] + dofs[14]*this->m_Matrix[2][0],
dofs[12]*this->m_Matrix[0][1] + dofs[13]*this->m_Matrix[1][1] + dofs[14]*this->m_Matrix[2][1],
dofs[12]*this->m_Matrix[0][2] + dofs[13]*this->m_Matrix[1][2] + dofs[14]*this->m_Matrix[2][2]
};
// set translations
this->m_Matrix[3][0] = dofs[0] - cM[0] + dofs[12];
this->m_Matrix[3][1] = dofs[1] - cM[1] + dofs[13];
this->m_Matrix[3][2] = dofs[2] - cM[2] + dofs[14];
}
template class cmtk::CompatibilityMatrix4x4<cmtk::Types::Coordinate>;
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