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/*=========================================================================
*
* Copyright NumFOCUS
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* https://www.apache.org/licenses/LICENSE-2.0.txt
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*=========================================================================*/
#ifndef itkCenteredEuler3DTransform_h
#define itkCenteredEuler3DTransform_h
#include <iostream>
#include "itkEuler3DTransform.h"
#include "itkMacro.h"
#include "itkVersor.h"
namespace itk
{
/** \class CenteredEuler3DTransform
* \brief CenteredEuler3DTransform of a vector space (e.g. space coordinates)
*
* This transform applies a rotation about a specific coordinate or
* centre of rotation followed by a translation.
*
* \ingroup ITKTransform
*/
template <typename TParametersValueType = double>
class ITK_TEMPLATE_EXPORT CenteredEuler3DTransform : public Euler3DTransform<TParametersValueType>
{
public:
ITK_DISALLOW_COPY_AND_MOVE(CenteredEuler3DTransform);
/** Standard class type aliases. */
using Self = CenteredEuler3DTransform;
using Superclass = Euler3DTransform<TParametersValueType>;
using Pointer = SmartPointer<Self>;
using ConstPointer = SmartPointer<const Self>;
/** New macro for creation of through a Smart Pointer */
itkNewMacro(Self);
/** \see LightObject::GetNameOfClass() */
itkOverrideGetNameOfClassMacro(CenteredEuler3DTransform);
/** Dimension of the space. */
static constexpr unsigned int SpaceDimension = 3;
static constexpr unsigned int InputSpaceDimension = 3;
static constexpr unsigned int OutputSpaceDimension = 3;
static constexpr unsigned int ParametersDimension = 9;
using typename Superclass::ParametersType;
using typename Superclass::ParametersValueType;
using typename Superclass::FixedParametersType;
using typename Superclass::FixedParametersValueType;
using typename Superclass::JacobianType;
using typename Superclass::JacobianPositionType;
using typename Superclass::InverseJacobianPositionType;
using typename Superclass::ScalarType;
using typename Superclass::InputVectorType;
using typename Superclass::OutputVectorType;
using typename Superclass::InputCovariantVectorType;
using typename Superclass::OutputCovariantVectorType;
using typename Superclass::InputVnlVectorType;
using typename Superclass::OutputVnlVectorType;
using typename Superclass::InputPointType;
using typename Superclass::OutputPointType;
using typename Superclass::MatrixType;
using typename Superclass::InverseMatrixType;
using typename Superclass::CenterType;
using typename Superclass::TranslationType;
using typename Superclass::TranslationValueType;
using typename Superclass::OffsetType;
/** Base inverse transform type. This type should not be changed to the
* concrete inverse transform type or inheritance would be lost. */
using InverseTransformBaseType = typename Superclass::InverseTransformBaseType;
using InverseTransformBasePointer = typename InverseTransformBaseType::Pointer;
/** Set the transformation from a container of parameters
* This is typically used by optimizers. There are nine parameters. The first
* three represent the angles of rotation (in radians) around each one of the
* axes (X,Y,Z), the next three parameters represent the coordinates of the
* center of rotation and the last three parameters represent the
* translation. */
void
SetParameters(const ParametersType & parameters) override;
/** Get the parameters that uniquely define the transform
* This is typically used by optimizers. There are nine parameters. The first
* three represent the angles of rotation (in radians) around each one of the
* axes (X,Y,Z), the next three parameters represent the coordinates of the
* center of rotation and the last three parameters represent the
* translation. */
const ParametersType &
GetParameters() const override;
/** This method computes the Jacobian matrix of the transformation.
* given point or vector, returning the transformed point or
* vector. The rank of the Jacobian will also indicate if the
* transform is invertible at this point. */
void
ComputeJacobianWithRespectToParameters(const InputPointType & p, JacobianType & jacobian) const override;
/** Get an inverse of this transform. */
bool
GetInverse(Self * inverse) const;
/** Return an inverse of this transform. */
InverseTransformBasePointer
GetInverseTransform() const override;
protected:
CenteredEuler3DTransform();
CenteredEuler3DTransform(const MatrixType & matrix, const OutputPointType & offset);
CenteredEuler3DTransform(unsigned int parametersDimension);
~CenteredEuler3DTransform() override = default;
/**
* Print contents of an CenteredEuler3DTransform
*/
void
PrintSelf(std::ostream & os, Indent indent) const override;
}; // class CenteredEuler3DTransform
} // namespace itk
#ifndef ITK_MANUAL_INSTANTIATION
# include "itkCenteredEuler3DTransform.hxx"
#endif
#endif /* itkCenteredEuler3DTransform_h */
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