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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 >
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&);
00146 void operator=(const Self&);
00147
00148 ScalarType m_AngleX;
00149 ScalarType m_AngleY;
00150 ScalarType m_AngleZ;
00151 bool m_ComputeZYX;
00152
00153
00154 };
00155
00156
00157 }
00158
00159
00160 #ifndef ITK_MANUAL_INSTANTIATION
00161 #include "itkEuler3DTransform.txx"
00162 #endif
00163
00164 #endif