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/*=========================================================================
Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: igstkAffineTransform.h,v $
Language: C++
Date: $Date: 2009-06-17 14:31:53 $
Version: $Revision: 1.4 $
Copyright (c) ISC Insight Software Consortium. All rights reserved.
See IGSTKCopyright.txt or http://www.igstk.org/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 __igstkAffineTransform_h
#define __igstkAffineTransform_h
#include "igstkTransformBase.h"
#include <itkAffineTransform.h>
#include "vtkMatrix4x4.h"
#include "igstkMacros.h"
namespace igstk
{
/** \class AffineTransform
* \brief A class representing a 3D affine transform.
*
* This class represents an affine transform of points in 3D space.
*
* All the set methods require an argument that defines the number of
* milliseconds for which the stored information is considered to be valid.
* The validity period will be counted from the moment the Set method was
* invoked.
*
* \sa TransformBase
*
* */
class AffineTransform : public TransformBase
{
public:
typedef ::itk::AffineTransform<double, 3>::MatrixType MatrixType;
typedef ::itk::AffineTransform<double, 3>::OutputVectorType OffsetType;
public:
/** Default constructor, results in identity transform with a time stamp that
* is never valid (start==end==0). */
AffineTransform();
AffineTransform( const AffineTransform & t );
virtual ~AffineTransform();
/** Transform composition method */
static AffineTransform TransformCompose( AffineTransform &leftTransform,
AffineTransform &rightTransform );
/** Assign the values of one transform to another */
const AffineTransform & operator=( const AffineTransform & inputTransform );
/** Set affine transformation. This transformation will override
* any previously set values. The information will be
* considered valid from the time of invocation of the method until that time
* plus the millisecondsToExpiration value. */
void SetMatrixAndOffset( const MatrixType &matrix,
const OffsetType &offset,
ErrorType errorValue,
TimeStamp::TimePeriodType millisecondsToExpiration );
/** Export the content of the transformation in the format of a vtkMatrix4x4.
* Users must allocate the matrix first and then pass it by reference to this
* method. The current method will simply fill in the transform using the
* current information of translation and rotation.
*/
void ExportTransform( vtkMatrix4x4 & matrix ) const;
/** Method for printing the member variables of this class to an ostream */
void Print( std::ostream& os, itk::Indent indent ) const;
protected:
void PrintHeader( std::ostream& os, itk::Indent indent ) const;
void PrintTrailer( std::ostream& itkNotUsed(os),
itk::Indent itkNotUsed(indent) ) const;
/** Print the object information in a stream. */
virtual void PrintSelf( std::ostream& os, itk::Indent indent ) const;
private:
::itk::AffineTransform<double, 3>::Pointer m_Transform;
};
std::ostream& operator<<( std::ostream& os, const igstk::AffineTransform& o );
}
#endif
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