itkTranslationTransform.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 itkTranslationTransform_h
#define itkTranslationTransform_h
 
#include "itkTransform.h"
#include "itkMacro.h"
#include "itkMatrix.h"
 
namespace itk
{

template <typename TParametersValueType = double, unsigned int VDimension = 3>
class ITK_TEMPLATE_EXPORT TranslationTransform : public Transform<TParametersValueType, VDimension, VDimension>
{
public:
  ITK_DISALLOW_COPY_AND_MOVE(TranslationTransform);

  using Self = TranslationTransform;
  using Superclass = Transform<TParametersValueType, VDimension, VDimension>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkNewMacro(Self);

  itkOverrideGetNameOfClassMacro(TranslationTransform);

  static constexpr unsigned int SpaceDimension = VDimension;
  static constexpr unsigned int ParametersDimension = VDimension;

  using typename Superclass::ScalarType;

  using typename Superclass::FixedParametersType;
  using typename Superclass::ParametersType;

  using typename Superclass::JacobianType;
  using typename Superclass::JacobianPositionType;
  using typename Superclass::InverseJacobianPositionType;

  using typename Superclass::NumberOfParametersType;

  using InputVectorType = Vector<TParametersValueType, VDimension>;
  using OutputVectorType = Vector<TParametersValueType, VDimension>;

  using InputCovariantVectorType = CovariantVector<TParametersValueType, VDimension>;
  using OutputCovariantVectorType = CovariantVector<TParametersValueType, VDimension>;

  using InputVnlVectorType = vnl_vector_fixed<TParametersValueType, VDimension>;
  using OutputVnlVectorType = vnl_vector_fixed<TParametersValueType, VDimension>;

  using InputPointType = Point<TParametersValueType, VDimension>;
  using OutputPointType = Point<TParametersValueType, VDimension>;

  using InverseTransformBaseType = typename Superclass::InverseTransformBaseType;
  using InverseTransformBasePointer = typename InverseTransformBaseType::Pointer;

  using typename Superclass::TransformCategoryEnum;

  const OutputVectorType &
  GetOffset() const
  {
    return m_Offset;
  }

  void
  SetParameters(const ParametersType & parameters) override;

  const ParametersType &
  GetParameters() const override;

  void
  SetOffset(const OutputVectorType & offset)
  {
    m_Offset = offset;
  }

  void
  Compose(const Self * other, bool pre = false);

  void
  Translate(const OutputVectorType & offset, bool pre = false);

  OutputPointType
  TransformPoint(const InputPointType & point) const override;
 
  using Superclass::TransformVector;
  OutputVectorType
  TransformVector(const InputVectorType & vect) const override;
 
  OutputVnlVectorType
  TransformVector(const InputVnlVectorType & vect) const override;
 
  using Superclass::TransformCovariantVector;
  OutputCovariantVectorType
  TransformCovariantVector(const InputCovariantVectorType & vect) const override;

  inline InputPointType
  BackTransform(const OutputPointType & point) const;
 
  inline InputVectorType
  BackTransform(const OutputVectorType & vect) const;
 
  inline InputVnlVectorType
  BackTransform(const OutputVnlVectorType & vect) const;
 
  inline InputCovariantVectorType
  BackTransform(const OutputCovariantVectorType & vect) const;

  bool
  GetInverse(Self * inverse) const;

  InverseTransformBasePointer
  GetInverseTransform() const override;

  void
  ComputeJacobianWithRespectToParameters(const InputPointType & point, JacobianType & jacobian) const override;
 

  void
  ComputeJacobianWithRespectToPosition(const InputPointType & x, JacobianPositionType & jac) const override;
  using Superclass::ComputeJacobianWithRespectToPosition;

  void
  SetIdentity();

  NumberOfParametersType
  GetNumberOfParameters() const override
  {
    return VDimension;
  }

  [[nodiscard]] bool
  IsLinear() const override
  {
    return true;
  }

  TransformCategoryEnum
  GetTransformCategory() const override
  {
    return Self::TransformCategoryEnum::Linear;
  }

  void
  SetFixedParameters(const FixedParametersType &) override
  {}

  const FixedParametersType &
  GetFixedParameters() const override
  {
    this->m_FixedParameters.SetSize(0);
    return this->m_FixedParameters;
  }
 
protected:
  TranslationTransform();
  ~TranslationTransform() override = default;
  void
  PrintSelf(std::ostream & os, Indent indent) const override;
 
private:
  JacobianType     m_IdentityJacobian{};
  OutputVectorType m_Offset{}; // Offset of the transformation
}; // class TranslationTransform
 
// Back transform a point
template <typename TParametersValueType, unsigned int VDimension>
inline auto
TranslationTransform<TParametersValueType, VDimension>::BackTransform(const OutputPointType & point) const
  -> InputPointType
{
  return point - m_Offset;
}
 
// Back transform a vector
template <typename TParametersValueType, unsigned int VDimension>
inline auto
TranslationTransform<TParametersValueType, VDimension>::BackTransform(const OutputVectorType & vect) const
  -> InputVectorType
{
  return vect;
}
 
// Back transform a vnl_vector
template <typename TParametersValueType, unsigned int VDimension>
inline auto
TranslationTransform<TParametersValueType, VDimension>::BackTransform(const OutputVnlVectorType & vect) const
  -> InputVnlVectorType
{
  return vect;
}
 
// Back Transform a CovariantVector
template <typename TParametersValueType, unsigned int VDimension>
inline auto
TranslationTransform<TParametersValueType, VDimension>::BackTransform(const OutputCovariantVectorType & vect) const
  -> InputCovariantVectorType
{
  return vect;
}
 
} // namespace itk
 
#ifndef ITK_MANUAL_INSTANTIATION
#  include "itkTranslationTransform.hxx"
#endif
 
#endif /* itkTranslationTransform_h */