sitkVersorRigid3DTransform.h

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*
*  Copyright Insight Software Consortium
*
*  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
*
*         http://www.apache.org/licenses/LICENSE-2.0.txt
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*  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
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*=========================================================================*/
#ifndef sitkVersorRigid3DTransform_h
#define sitkVersorRigid3DTransform_h

#include "sitkCommon.h"
#include "sitkTransform.h"

namespace itk
{
namespace simple
{


class SITKCommon_EXPORT VersorRigid3DTransform
  : public Transform
{
public:
  typedef VersorRigid3DTransform Self;
  typedef Transform Superclass;

// construct identity
  VersorRigid3DTransform();

  VersorRigid3DTransform( const VersorRigid3DTransform & );

  explicit VersorRigid3DTransform( const Transform & );

  explicit VersorRigid3DTransform( const std::vector< double > &versor,
                                   const std::vector< double > &translation=std::vector< double >(3, 0.0),
                                   const std::vector< double> &fixedCenter=std::vector< double >(3, 0.0));

  VersorRigid3DTransform( const std::vector< double > &axis, double angle,
                          const std::vector< double > &translation=std::vector< double >(3, 0.0),
                          const std::vector< double> &fixedCenter=std::vector< double >(3, 0.0) );

  VersorRigid3DTransform &operator=( const VersorRigid3DTransform & );

  SITK_RETURN_SELF_TYPE_HEADER SetCenter(const std::vector<double> &params);
  std::vector<double> GetCenter( ) const;


  SITK_RETURN_SELF_TYPE_HEADER SetRotation(const std::vector<double> &versor);
  SITK_RETURN_SELF_TYPE_HEADER SetRotation(const std::vector<double> &axis,  double angle);
  std::vector<double> GetVersor() const;

  std::vector<double> GetTranslation( ) const;
  SITK_RETURN_SELF_TYPE_HEADER SetTranslation(const std::vector<double>& translation);

  SITK_RETURN_SELF_TYPE_HEADER Translate(const std::vector<double> &offset);
  std::vector<double> GetMatrix() const;
  SITK_RETURN_SELF_TYPE_HEADER SetMatrix(const std::vector<double> &matrix, double tolerance = 1e-10);

protected:

  virtual void SetPimpleTransform( PimpleTransformBase *pimpleTransform );

private:

  using Superclass::AddTransform;

  void InternalInitialization(itk::TransformBase *transform);

  template <typename TransformType>
    void InternalInitialization(TransformType *transform);


  nsstd::function<void(const std::vector<double>&)> m_pfSetCenter;
  nsstd::function<std::vector<double>()> m_pfGetCenter;
  nsstd::function<void(const std::vector<double>&)> m_pfSetRotation1;
  nsstd::function<void(const std::vector<double>&,double)> m_pfSetRotation2;
  nsstd::function<std::vector<double>()> m_pfGetVersor;
  nsstd::function<void(const std::vector<double>&)> m_pfSetTranslation;
  nsstd::function<std::vector<double>()> m_pfGetTranslation;
  nsstd::function<void(const std::vector<double> &)> m_pfTranslate;
  nsstd::function<std::vector<double>()> m_pfGetMatrix;
  nsstd::function<void(const std::vector<double>&, double)> m_pfSetMatrix;
};

}
}

#endif // sitkVersorTransform_h