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itkEuler3DTransform.h

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00001 /*=========================================================================
00002 
00003   Program:   Insight Segmentation & Registration Toolkit
00004   Module:    $RCSfile: itkEuler3DTransform.h,v $
00005   Language:  C++
00006   Date:      $Date: 2004/10/16 13:45:10 $
00007   Version:   $Revision: 1.9 $
00008 
00009   Copyright (c) Insight Software Consortium. All rights reserved.
00010   See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.
00011 
00012      This software is distributed WITHOUT ANY WARRANTY; without even 
00013      the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
00014      PURPOSE.  See the above copyright notices for more information.
00015 
00016 =========================================================================*/
00017 #ifndef __itkEuler3DTransform_h
00018 #define __itkEuler3DTransform_h
00019 
00020 #include <iostream>
00021 #include "itkRigid3DTransform.h"
00022 
00023 namespace itk
00024 {
00025 
00033 template < class TScalarType=double >    // Data type for scalars (float or double)
00034 class ITK_EXPORT Euler3DTransform : 
00035             public Rigid3DTransform< TScalarType > 
00036 {
00037 public:
00039   typedef Euler3DTransform Self;
00040   typedef Rigid3DTransform< TScalarType >   Superclass;
00041   typedef SmartPointer<Self>        Pointer;
00042   typedef SmartPointer<const Self>  ConstPointer;
00043     
00045   itkNewMacro( Self );
00046 
00048   itkTypeMacro( Euler3DTransform, Rigid3DTransform );
00049 
00051   itkStaticConstMacro( SpaceDimension, unsigned int, 3 ); 
00052   itkStaticConstMacro( ParametersDimension, unsigned int, 6 ); 
00053 
00055   typedef typename Superclass::ScalarType  ScalarType;
00056 
00058   typedef typename Superclass::ParametersType  ParametersType;
00059 
00061   typedef typename Superclass::JacobianType  JacobianType;
00062 
00063   typedef typename Superclass::ScalarType   AngleType;
00064   
00066   typedef typename Superclass::OffsetType  OffsetType;
00067 
00069   typedef typename Superclass::InputPointType   InputPointType;
00070   typedef typename Superclass::OutputPointType  OutputPointType;
00071   
00073   typedef typename Superclass::InputVectorType   InputVectorType;
00074   typedef typename Superclass::OutputVectorType  OutputVectorType;
00075   
00077   typedef typename Superclass::InputCovariantVectorType   InputCovariantVectorType;
00078   typedef typename Superclass::OutputCovariantVectorType  OutputCovariantVectorType;
00079   
00081   typedef typename Superclass::InputVnlVectorType   InputVnlVectorType;
00082   typedef typename Superclass::OutputVnlVectorType  OutputVnlVectorType;
00083   typedef typename Superclass::MatrixType           MatrixType;
00084 
00089   void SetParameters( const ParametersType & parameters );
00090   const ParametersType& GetParameters(void) const;
00091 
00093   void SetRotation(ScalarType angleX,ScalarType angleY,ScalarType angleZ);
00094   itkGetMacro(AngleX, ScalarType);
00095   itkGetMacro(AngleY, ScalarType);
00096   itkGetMacro(AngleZ, ScalarType);
00097 
00099   void SetCenter( const InputPointType & center );
00100   itkGetConstReferenceMacro( Center, InputPointType );
00101 
00108   void SetTranslation( const OutputVectorType & translation );
00109   itkGetConstReferenceMacro( Translation, OutputVectorType );
00110   
00115   const JacobianType & GetJacobian(const InputPointType  &point ) const;
00116 
00118   itkSetMacro(ComputeZYX,bool);
00119   itkGetMacro(ComputeZYX,bool);
00120 
00121   virtual void SetRotationMatrix(const MatrixType &matrix);
00122 
00123   virtual void Compose(const Superclass *other, bool pre=false);
00124   
00125   virtual void SetIdentity(void);
00126 
00127 
00128 protected:
00129   Euler3DTransform();
00130   Euler3DTransform(unsigned int OutputSpaceDimension,
00131                    unsigned int ParametersDimension);
00132   ~Euler3DTransform(){};
00133   void PrintSelf(std::ostream &os, Indent indent) const;
00134 
00136   void ComputeMatrixAndOffset(void);
00137 
00138  void ComputeAnglesFromMatrix(void);
00139 
00140 protected:
00141   InputPointType m_Center;
00142   OutputVectorType m_Translation;
00143 
00144 private:
00145   Euler3DTransform(const Self&); //purposely not implemented
00146   void operator=(const Self&); //purposely not implemented
00147 
00148   ScalarType  m_AngleX; 
00149   ScalarType  m_AngleY; 
00150   ScalarType  m_AngleZ;
00151   bool        m_ComputeZYX;
00152 
00153 
00154 }; //class Euler3DTransform
00155 
00156 
00157 }  // namespace itk
00158 
00159 
00160 #ifndef ITK_MANUAL_INSTANTIATION
00161 #include "itkEuler3DTransform.txx"
00162 #endif
00163 
00164 #endif /* __itkEuler3DTransform_h */

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