itkEuler3DTransform.h

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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 itkEuler3DTransform_h
#define itkEuler3DTransform_h
 
#include <iostream>
#include "itkRigid3DTransform.h"
 
namespace itk
{
template <typename TParametersValueType = double>
class ITK_TEMPLATE_EXPORT Euler3DTransform : public Rigid3DTransform<TParametersValueType>
{
public:
  ITK_DISALLOW_COPY_AND_MOVE(Euler3DTransform);

  using Self = Euler3DTransform;
  using Superclass = Rigid3DTransform<TParametersValueType>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkNewMacro(Self);

  itkOverrideGetNameOfClassMacro(Euler3DTransform);

  static constexpr unsigned int SpaceDimension = 3;
  static constexpr unsigned int InputSpaceDimension = 3;
  static constexpr unsigned int OutputSpaceDimension = 3;
  static constexpr unsigned int ParametersDimension = 6;
 
  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::OffsetType;
  using AngleType = typename Superclass::ScalarType;

  void
  SetParameters(const ParametersType & parameters) override;
 
  const ParametersType &
  GetParameters() const override;
 
  const FixedParametersType &
  GetFixedParameters() const override;
  void
  SetFixedParameters(const FixedParametersType & parameters) override;

  void
  SetRotation(ScalarType angleX, ScalarType angleY, ScalarType angleZ);
 
  itkGetConstMacro(AngleX, ScalarType);
  itkGetConstMacro(AngleY, ScalarType);
  itkGetConstMacro(AngleZ, ScalarType);

  void
  ComputeJacobianWithRespectToParameters(const InputPointType & p, JacobianType & jacobian) const override;
  using Superclass::ComputeJacobianWithRespectToPosition;

  virtual void
  SetComputeZYX(const bool flag);
  itkGetConstMacro(ComputeZYX, bool);
  void
  SetIdentity() override;
 
protected:
  Euler3DTransform(const MatrixType & matrix, const OutputPointType & offset);
  Euler3DTransform(unsigned int parametersDimension);
  Euler3DTransform();
 
  ~Euler3DTransform() override = default;
 
  void
  PrintSelf(std::ostream & os, Indent indent) const override;

  void
  SetVarRotation(ScalarType angleX, ScalarType angleY, ScalarType angleZ);

  void
  ComputeMatrix() override;

  void
  ComputeMatrixParameters() override;
 
private:
  ScalarType m_AngleX{};
  ScalarType m_AngleY{};
  ScalarType m_AngleZ{};
  bool       m_ComputeZYX{};
}; // class Euler3DTransform
} // namespace itk
 
#ifndef ITK_MANUAL_INSTANTIATION
#  include "itkEuler3DTransform.hxx"
#endif
 
#endif /* itkEuler3DTransform_h */