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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 itkRigid3DTransform_h
#define itkRigid3DTransform_h
#include <iostream>
#include "itkMatrixOffsetTransformBase.h"
#include "itkVersor.h"
namespace itk
{
/** \class Rigid3DTransform
* \brief Rigid3DTransform of a vector space (e.g. space coordinates)
*
* This transform applies a rotation and translation in 3D space.
* The transform is specified as a rotation matrix around a arbitrary center
* and is followed by a translation.
*
* The parameters for this transform can be set either using individual Set
* methods or in serialized form using SetParameters() and SetFixedParameters().
*
* The serialization of the optimizable parameters is an array of 12 elements.
* The first 9 parameters represents the rotation matrix in row-major order
* (where the column index varies the fastest). The last 3 parameters defines
* the translation in each dimension.
*
* The serialization of the fixed parameters is an array of 3 elements defining
* the center of rotation in each dimension.
*
* The Rigid3DTransform is intended to be a base class that
* defines a consistent family of transform types that respect
* rigid transformations. Only classes that derive from Rigid3DTransform
* should be used.
*
* \sa Euler3DTransform
* \sa QuaternionRigidTransform
* \sa VersorTransform
*
* \ingroup ITKTransform
*/
template <typename TParametersValueType = double>
class ITK_TEMPLATE_EXPORT Rigid3DTransform : public MatrixOffsetTransformBase<TParametersValueType, 3, 3>
{
public:
ITK_DISALLOW_COPY_AND_MOVE(Rigid3DTransform);
/** Standard class type aliases. */
using Self = Rigid3DTransform;
using Superclass = MatrixOffsetTransformBase<TParametersValueType, 3, 3>;
using Pointer = SmartPointer<Self>;
using ConstPointer = SmartPointer<const Self>;
/** Run-time type information (and related methods). */
itkNewMacro(Self);
/** \see LightObject::GetNameOfClass() */
itkOverrideGetNameOfClassMacro(Rigid3DTransform);
/** 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 = 12;
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::OutputVectorValueType;
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::MatrixValueType;
using typename Superclass::CenterType;
using typename Superclass::TranslationType;
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 12 parameters. The first 9 represents the rotation
* matrix is row-major order and the last 3 represents the translation.
*
* \warning The rotation matrix must be orthogonal to within a specified tolerance,
* else an exception is thrown.
*
* \sa Transform::SetParameters()
* \sa Transform::SetFixedParameters() */
void
SetParameters(const ParametersType & parameters) override;
/** Directly set the rotation matrix of the transform.
* \warning The input matrix must be orthogonal to within a specified tolerance,
* else an exception is thrown.
*
* \sa MatrixOffsetTransformBase::SetMatrix() */
void
SetMatrix(const MatrixType & matrix) override;
/** Directly set the rotation matrix of the transform.
* \warning The input matrix must be orthogonal to within the specified tolerance,
* else an exception is thrown.
*
* \sa MatrixOffsetTransformBase::SetMatrix() */
virtual void
SetMatrix(const MatrixType & matrix, const TParametersValueType tolerance);
/**
* Compose the transformation with a translation
*
* This method modifies self to include a translation of the
* origin. The translation is precomposed with self if pre is
* true, and postcomposed otherwise.
*/
void
Translate(const OffsetType & offset, bool pre = false);
/**
* Utility function to test if a matrix is orthogonal within a specified
* tolerance
*/
bool
MatrixIsOrthogonal(
const MatrixType & matrix,
const TParametersValueType tolerance = MatrixOrthogonalityTolerance<TParametersValueType>::GetTolerance());
protected:
Rigid3DTransform(const MatrixType & matrix, const OutputVectorType & offset);
Rigid3DTransform(unsigned int paramDim);
Rigid3DTransform();
~Rigid3DTransform() override = default;
/**
* Print contents of an Rigid3DTransform
*/
void
PrintSelf(std::ostream & os, Indent indent) const override;
}; // class Rigid3DTransform
} // namespace itk
#ifndef ITK_MANUAL_INSTANTIATION
# include "itkRigid3DTransform.hxx"
#endif
#endif /* itkRigid3DTransform_h */
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