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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 itkCenteredRigid2DTransform_h
#define itkCenteredRigid2DTransform_h
#include <iostream>
#include "itkRigid2DTransform.h"
namespace itk
{
/** \class CenteredRigid2DTransform
* \brief CenteredRigid2DTransform of a vector space (e.g. space coordinates)
*
* This transform applies a rigid transformation is 2D space.
* The transform is specified as a rotation around arbitrary center
* and is followed by a translation.
*
* The main difference between this class and its superclass
* Rigid2DTransform is that the center of rotation is exposed
* for optimization.
*
* The serialization of the optimizable parameters is an array of 5 elements
* ordered as follows:
* p[0] = angle
* p[1] = x coordinate of the center
* p[2] = y coordinate of the center
* p[3] = x component of the translation
* p[4] = y component of the translation
*
* There are no fixed parameters.
*
* \sa Rigid2DTransform
*
* \ingroup ITKTransform
*/
template <typename TParametersValueType = double>
class ITK_TEMPLATE_EXPORT CenteredRigid2DTransform : public Rigid2DTransform<TParametersValueType>
{
public:
ITK_DISALLOW_COPY_AND_MOVE(CenteredRigid2DTransform);
/** Standard class type aliases. */
using Self = CenteredRigid2DTransform;
using Superclass = Rigid2DTransform<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(CenteredRigid2DTransform);
/** Dimension of parameters. */
static constexpr unsigned int SpaceDimension = 2;
static constexpr unsigned int OutputSpaceDimension = 2;
static constexpr unsigned int ParametersDimension = 5;
/** Parameters type. */
using typename Superclass::ScalarType;
using typename Superclass::FixedParametersType;
using typename Superclass::FixedParametersValueType;
using typename Superclass::ParametersType;
using typename Superclass::ParametersValueType;
/** Jacobian type. */
using typename Superclass::JacobianType;
using typename Superclass::JacobianPositionType;
using typename Superclass::InverseJacobianPositionType;
/** Offset type. */
using typename Superclass::OffsetType;
/** Point type. */
using typename Superclass::InputPointType;
using typename Superclass::OutputPointType;
using typename Superclass::InputPointValueType;
/** Vector type. */
using typename Superclass::InputVectorType;
using typename Superclass::OutputVectorType;
using typename Superclass::OutputVectorValueType;
/** CovariantVector type. */
using typename Superclass::InputCovariantVectorType;
using typename Superclass::OutputCovariantVectorType;
/** VnlVector type. */
using typename Superclass::InputVnlVectorType;
using typename Superclass::OutputVnlVectorType;
/** 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 5 parameters. The first one represents the
* rotation, the next two the center of rotation and
* the last two represents the offset.
*
* \sa Transform::SetParameters()
* \sa Transform::SetFixedParameters() */
void
SetParameters(const ParametersType & parameters) override;
/** Get the parameters that uniquely define the transform
* This is typically used by optimizers.
* There are 3 parameters. The first one represents the
* rotation, the next two the center of rotation and
* the last two represents the offset.
*
* \sa Transform::GetParameters()
* \sa Transform::GetFixedParameters() */
const ParametersType &
GetParameters() const override;
/** This method computes the Jacobian matrix of the transformation
* at a given input point.
*/
void
ComputeJacobianWithRespectToParameters(const InputPointType & p, JacobianType & jacobian) const override;
/** Set the fixed parameters and update internal transformation.
* This is a null function as there are no fixed parameters. */
void
SetFixedParameters(const FixedParametersType &) override;
/** Get the Fixed Parameters. An empty array is returned
* as there are no fixed parameters. */
const FixedParametersType &
GetFixedParameters() const override;
/**
* This method creates and returns a new CenteredRigid2DTransform object
* which is the inverse of self. */
void
CloneInverseTo(Pointer & result) const;
/** Get an inverse of this transform. */
bool
GetInverse(Self * inverse) const;
/** Return an inverse of this transform. */
InverseTransformBasePointer
GetInverseTransform() const override;
/**
* This method creates and returns a new CenteredRigid2DTransform object
* which has the same parameters as self. */
void
CloneTo(Pointer & result) const;
protected:
CenteredRigid2DTransform();
~CenteredRigid2DTransform() override = default;
CenteredRigid2DTransform(unsigned int spaceDimension, unsigned int parametersDimension);
void
PrintSelf(std::ostream & os, Indent indent) const override;
}; // class CenteredRigid2DTransform
} // namespace itk
#ifndef ITK_MANUAL_INSTANTIATION
# include "itkCenteredRigid2DTransform.hxx"
#endif
#endif /* itkCenteredRigid2DTransform_h */
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