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/*========================================================================= |
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Program: Insight Segmentation & Registration Toolkit |
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Module: $RCSfile: itkRigid2DTransform.h.html,v $ |
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Language: C++ |
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Date: $Date: 2006/01/17 19:15:47 $ |
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Version: $Revision: 1.4 $ |
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Copyright (c) Insight Software Consortium. All rights reserved. |
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See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details. |
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This software is distributed WITHOUT ANY WARRANTY; without even |
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the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR |
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PURPOSE. See the above copyright notices for more information. |
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=========================================================================*/ |
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#ifndef __itkRigid2DTransform_h |
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#define __itkRigid2DTransform_h |
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#include <iostream> |
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#include "itkMatrixOffsetTransformBase.h" |
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#include "itkExceptionObject.h" |
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namespace itk |
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{ |
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/** \brief Rigid2DTransform of a vector space (e.g. space coordinates) |
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* |
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* This transform applies a rigid transformation in 2D space. |
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* The transform is specified as a rotation around a arbitrary center |
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* and is followed by a translation. |
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* |
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* The parameters for this transform can be set either using |
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* individual Set methods or in serialized form using |
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* SetParameters() and SetFixedParameters(). |
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* |
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* The serialization of the optimizable parameters is an array of 3 elements |
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* ordered as follows: |
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* p[0] = angle |
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* p[1] = x component of the translation |
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* p[2] = y component of the translation |
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* |
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* The serialization of the fixed parameters is an array of 2 elements |
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* ordered as follows: |
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* p[0] = x coordinate of the center |
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* p[1] = y coordinate of the center |
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* |
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* Access methods for the center, translation and underlying matrix |
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* offset vectors are documented in the superclass MatrixOffsetTransformBase. |
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* |
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* \sa Transfrom |
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* \sa MatrixOffsetTransformBase |
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* |
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* \ingroup Transforms |
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*/ |
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template < class TScalarType=double > // Data type for scalars (float or double) |
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MCM |
class ITK_EXPORT Rigid2DTransform : |
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LEN,IND |
********public MatrixOffsetTransformBase< TScalarType, 2, 2> // Dimensions of input and output spaces |
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{ |
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public: |
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/** Standard class typedefs. */ |
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typedef Rigid2DTransform Self; |
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TDA |
typedef MatrixOffsetTransformBase< TScalarType, 2, 2 > Superclass; |
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typedef SmartPointer<Self> Pointer; |
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typedef SmartPointer<const Self> ConstPointer; |
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/** Run-time type information (and related methods). */ |
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itkTypeMacro( Rigid2DTransform, MatrixOffsetTransformBase ); |
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/** New macro for creation of through a Smart Pointer */ |
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itkNewMacro( Self ); |
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/** Dimension of the space. */ |
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itkStaticConstMacro(InputSpaceDimension, unsigned int, 2); |
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itkStaticConstMacro(OutputSpaceDimension, unsigned int, 2); |
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itkStaticConstMacro(ParametersDimension, unsigned int, 3); |
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/** Scalar type. */ |
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typedef typename Superclass::ScalarType ScalarType; |
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/** Parameters type. */ |
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typedef typename Superclass::ParametersType ParametersType; |
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/** Jacobian type. */ |
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typedef typename Superclass::JacobianType JacobianType; |
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/// Standard matrix type for this class |
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typedef typename Superclass::MatrixType MatrixType; |
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/// Standard vector type for this class |
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typedef typename Superclass::OffsetType OffsetType; |
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/// Standard vector type for this class |
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typedef typename Superclass::InputVectorType InputVectorType; |
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typedef typename Superclass::OutputVectorType OutputVectorType; |
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/// Standard covariant vector type for this class |
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typedef typename Superclass::InputCovariantVectorType InputCovariantVectorType; |
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typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType; |
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/// Standard vnl_vector type for this class |
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typedef typename Superclass::InputVnlVectorType InputVnlVectorType; |
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typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType; |
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/// Standard coordinate point type for this class |
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typedef typename Superclass::InputPointType InputPointType; |
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typedef typename Superclass::OutputPointType OutputPointType; |
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/** |
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* Set the rotation Matrix of a Rigid2D Transform |
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* |
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* This method sets the 2x2 matrix representing the rotation |
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* in the transform. The Matrix is expected to be orthogonal |
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* with a certain tolerance. |
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* |
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* \warning This method will throw an exception is the matrix |
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* provided as argument is not orthogonal. |
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* |
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* \sa MatrixOffsetTransformBase::SetMatrix() |
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**/ |
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virtual void SetMatrix( const MatrixType & matrix ); |
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/** |
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* Set/Get the rotation matrix. These methods are old and are |
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* retained for backward compatibility. Instead, use SetMatrix() |
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* GetMatrix(). |
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**/ |
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virtual void SetRotationMatrix(const MatrixType &matrix) |
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{ this->SetMatrix( matrix ); } |
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***const MatrixType & GetRotationMatrix() const |
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{ return this->GetMatrix(); } |
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/** |
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* Compose the transformation with a translation |
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* |
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* This method modifies self to include a translation of the |
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* origin. The translation is precomposed with self if pre is |
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* true, and postcomposed otherwise. |
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**/ |
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void Translate(const OffsetType &offset, bool pre=false); |
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/** |
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* Back transform by an rigid transformation. |
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* |
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* The BackTransform() methods are slated to be removed from ITK. |
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* Instead, please use GetInverse() or CloneInverseTo() to generate |
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* an inverse transform and then perform the transform using that |
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* inverted transform. |
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**/ |
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inline InputPointType BackTransform(const OutputPointType &point ) const; |
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inline InputVectorType BackTransform(const OutputVectorType &vector) const; |
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inline InputVnlVectorType BackTransform(const OutputVnlVectorType &vector) const; |
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inline InputCovariantVectorType BackTransform( |
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const OutputCovariantVectorType &vector) const; |
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/** Set/Get the angle of rotation in radians */ |
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void SetAngle(TScalarType angle); |
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itkGetConstReferenceMacro( Angle, TScalarType ); |
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/** Set the angle of rotation in degrees. */ |
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void SetAngleInDegrees(TScalarType angle); |
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/** Set/Get the angle of rotation in radians. These methods |
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* are old and are retained for backward compatibility. |
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* Instead, use SetAngle() and GetAngle(). */ |
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void SetRotation(TScalarType angle) |
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{ this->SetAngle(angle); } |
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virtual const TScalarType & GetRotation() const |
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{ return m_Angle; } |
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/** Set the transformation from a container of parameters |
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* This is typically used by optimizers. |
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* There are 3 parameters. The first one represents the |
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* angle of rotation in radians and the last two represents the translation. |
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* The center of rotation is fixed. |
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* |
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* \sa Transform::SetParameters() |
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* \sa Transform::SetFixedParameters() */ |
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void SetParameters( const ParametersType & parameters ); |
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/** Get the parameters that uniquely define the transform |
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* This is typically used by optimizers. |
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* There are 3 parameters. The first one represents the |
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* angle or rotation in radians and the last two represents the translation. |
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* The center of rotation is fixed. |
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* |
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* \sa Transform::GetParameters() |
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* \sa Transform::GetFixedParameters() */ |
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const ParametersType & GetParameters( void ) const; |
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/** This method computes the Jacobian matrix of the transformation |
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* at a given input point. |
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* |
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* \sa Transform::GetJacobian() */ |
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const JacobianType & GetJacobian(const InputPointType &point ) const; |
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/** |
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* This method creates and returns a new Rigid2DTransform object |
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* which is the inverse of self. |
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**/ |
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void CloneInverseTo( Pointer & newinverse ) const; |
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/** |
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* This method creates and returns a new Rigid2DTransform object |
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* which has the same parameters. |
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**/ |
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void CloneTo( Pointer & clone ) const; |
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/** Reset the parameters to create and identity transform. */ |
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virtual void SetIdentity(void); |
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protected: |
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Rigid2DTransform(); |
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Rigid2DTransform( unsigned int outputSpaceDimension, |
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unsigned int parametersDimension); |
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*~Rigid2DTransform(); |
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*/** |
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* Print contents of an Rigid2DTransform |
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**/ |
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void PrintSelf(std::ostream &os, Indent indent) const; |
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/** Compute the matrix from angle. This is used in Set methods |
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* to update the underlying matrix whenever a transform parameter |
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* is changed. */ |
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virtual void ComputeMatrix(void); |
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/** Compute the angle from the matrix. This is used to compute |
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* transform parameters from a given matrix. This is used in |
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* MatrixOffsetTransformBase::Compose() and |
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* MatrixOffsetTransformBase::GetInverse(). */ |
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virtual void ComputeMatrixParameters(void); |
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/** Update angle without recomputation of other internal variables. */ |
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void SetVarAngle( TScalarType angle ) |
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{ m_Angle = angle; } |
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private: |
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Rigid2DTransform(const Self&); //purposely not implemented |
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void operator=(const Self&); //purposely not implemented |
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TScalarType m_Angle; |
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}; //class Rigid2DTransform |
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} // namespace itk |
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#ifndef ITK_MANUAL_INSTANTIATION |
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#include "itkRigid2DTransform.txx" |
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#endif |
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#endif /* __itkRigid2DTransform_h */ |
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