text: /*=========================================================================
   *
   *  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
   *
   *  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 itkRigid2DTransform_h
  #define itkRigid2DTransform_h
  
  #include "itkMatrixOffsetTransformBase.h"
  
  namespace itk
  {
  /** \class Rigid2DTransform
   * \brief Rigid2DTransform of a vector space (e.g. space coordinates)
   *
   * This transform applies a rigid transformation in 2D space.
   * The transform is specified as a rotation around a arbitrary center
   * and is followed by a translation.
   *
   * The parameters for this transform can be set either using
   * individual Set methods or in serialized form using
   * SetParameters() and SetFixedParameters().
   *
   * The serialization of the optimizable parameters is an array of 3 elements
   * ordered as follows:
   * p[0] = angle
   * p[1] = x component of the translation
   * p[2] = y component of the translation
   *
   * The serialization of the fixed parameters is an array of 2 elements
   * ordered as follows:
   * p[0] = x coordinate of the center
   * p[1] = y coordinate of the center
   *
   * Access methods for the center, translation and underlying matrix
   * offset vectors are documented in the superclass MatrixOffsetTransformBase.
   *
   * \sa Transfrom
   * \sa MatrixOffsetTransformBase
   *
   * \ingroup ITKTransform
   */
  template< typename TScalar = double >
  // Data type for scalars (float or double)
  class Rigid2DTransform :
    public MatrixOffsetTransformBase< TScalar, 2, 2 >        // Dimensions of
                                                               // input and output
                                                               // spaces
  {
  public:
    /** Standard class typedefs. */
    typedef Rigid2DTransform                           Self;
    typedef MatrixOffsetTransformBase< TScalar, 2, 2 > Superclass;
    typedef SmartPointer< Self >                       Pointer;
    typedef SmartPointer< const Self >                 ConstPointer;
  
    /** Run-time type information (and related methods). */
    itkTypeMacro(Rigid2DTransform, MatrixOffsetTransformBase);
  
    /** New macro for creation of through a Smart Pointer */
    itkNewMacro(Self);
  
    /** Dimension of the space. */
    itkStaticConstMacro(InputSpaceDimension, unsigned int, 2);
    itkStaticConstMacro(OutputSpaceDimension, unsigned int, 2);
    itkStaticConstMacro(ParametersDimension, unsigned int, 3);
  
    /** Scalar type. */
    typedef typename Superclass::ScalarType ScalarType;
  
    /** Parameters type. */
    typedef typename Superclass::ParametersType      ParametersType;
    typedef typename Superclass::ParametersValueType ParametersValueType;
  
    /** Jacobian type. */
    typedef typename Superclass::JacobianType JacobianType;
  
    // / Standard matrix type for this class
    typedef typename Superclass::MatrixType      MatrixType;
    typedef typename Superclass::MatrixValueType MatrixValueType;
  
    // / Standard vector type for this class
    typedef typename Superclass::OffsetType      OffsetType;
    typedef typename Superclass::OffsetValueType OffsetValueType;
  
    // / Standard vector type for this class
    typedef typename Superclass::InputVectorType       InputVectorType;
    typedef typename Superclass::OutputVectorType      OutputVectorType;
    typedef typename Superclass::OutputVectorValueType OutputVectorValueType;
  
    // / Standard covariant vector type for this class
    typedef typename Superclass::InputCovariantVectorType  InputCovariantVectorType;
    typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType;
  
    // / Standard vnl_vector type for this class
    typedef typename Superclass::InputVnlVectorType  InputVnlVectorType;
    typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;
  
    // / Standard coordinate point type for this class
    typedef typename Superclass::InputPointType  InputPointType;
    typedef typename Superclass::OutputPointType OutputPointType;
  
    /** Base inverse transform type. This type should not be changed to the
     * concrete inverse transform type or inheritance would be lost. */
    typedef typename Superclass::InverseTransformBaseType InverseTransformBaseType;
    typedef typename InverseTransformBaseType::Pointer    InverseTransformBasePointer;
  
    /**
     * Set the rotation Matrix of a Rigid2D Transform
     *
     * This method sets the 2x2 matrix representing the rotation
     * in the transform.  The Matrix is expected to be orthogonal
     * with a certain tolerance.
     *
     * \warning This method will throw an exception is the matrix
     * provided as argument is not orthogonal.
     *
     * \sa MatrixOffsetTransformBase::SetMatrix()
     */
    virtual void SetMatrix(const MatrixType & matrix) ITK_OVERRIDE;
  
    /**
     * Set the rotation Matrix of a Rigid2D Transform
     *
     * This method sets the 2x2 matrix representing the rotation
     * in the transform.  The Matrix is expected to be orthogonal
     * with a certain tolerance.
     *
     * \warning This method will throw an exception is the matrix
     * provided as argument is not orthogonal within the given tolerance.
     *
     * \sa MatrixOffsetTransformBase::SetMatrix()
     */
    virtual void SetMatrix(const MatrixType & matrix, double tolerance);
  
    /**
     * Compose the transformation with a translation
     *
     * This method modifies self to include a translation of the
     * origin.  The translation is precomposed with self if pre is
     * true, and postcomposed otherwise.
     */
    void Translate(const OffsetType & offset, bool pre = false);
  
    /**
     * Back transform by an rigid transformation.
     *
     * The BackTransform() methods are slated to be removed from ITK.
     * Instead, please use GetInverse() or CloneInverseTo() to generate
     * an inverse transform and  then perform the transform using that
     * inverted transform.
     */
    inline InputPointType      BackTransform(const OutputPointType  & point) const;
  
    inline InputVectorType     BackTransform(const OutputVectorType & vector) const;
  
    inline InputVnlVectorType  BackTransform(const OutputVnlVectorType & vector) const;
  
    inline InputCovariantVectorType BackTransform(const OutputCovariantVectorType & vector) const;
  
    /** Set/Get the angle of rotation in radians */
    void SetAngle(TScalar angle);
  
    itkGetConstReferenceMacro(Angle, TScalar);
  
    /** Set the angle of rotation in degrees. */
    void SetAngleInDegrees(TScalar angle);
  
    /** Set/Get the angle of rotation in radians. These methods
     * are old and are retained for backward compatibility.
     * Instead, use SetAngle() and GetAngle(). */
    void SetRotation(TScalar angle)
    {
      this->SetAngle(angle);
    }
    virtual const TScalar & GetRotation() const
    {
      return m_Angle;
    }
  
    /** Set the transformation from a container of parameters
     * This is typically used by optimizers.
     * There are 3 parameters. The first one represents the
     * angle of rotation in radians and the last two represents the translation.
     * The center of rotation is fixed.
     *
     * \sa Transform::SetParameters()
     * \sa Transform::SetFixedParameters() */
    virtual void SetParameters(const ParametersType & parameters) ITK_OVERRIDE;
  
    /** Get the parameters that uniquely define the transform
     * This is typically used by optimizers.
     * There are 3 parameters. The first one represents the
     * angle or rotation in radians and the last two represents the translation.
     * The center of rotation is fixed.
     *
     * \sa Transform::GetParameters()
     * \sa Transform::GetFixedParameters() */
    virtual const ParametersType & GetParameters() const ITK_OVERRIDE;
  
    /** Compute the Jacobian Matrix of the transformation at one point,
     *  allowing for thread-safety. */
    virtual void ComputeJacobianWithRespectToParameters(const InputPointType  & p, JacobianType & jacobian) const ITK_OVERRIDE;
  
    /**
     * This method creates and returns a new Rigid2DTransform object
     * which is the inverse of self.
     */
    void CloneInverseTo(Pointer & newinverse) const;
  
    /** Get an inverse of this transform. */
    bool GetInverse(Self *inverse) const;
  
    /** Return an inverse of this transform. */
    virtual InverseTransformBasePointer GetInverseTransform() const ITK_OVERRIDE;
  
    /**
     * This method creates and returns a new Rigid2DTransform object
     * which has the same parameters.
     */
    void CloneTo(Pointer & clone) const;
  
    /** Reset the parameters to create and identity transform. */
    virtual void SetIdentity() ITK_OVERRIDE;
  
  #ifdef ITKV3_COMPATIBILITY
    /**
     * \deprecated
     * Set/Get the rotation matrix. These methods are old and are
     * retained for backward compatibility. Instead, use SetMatrix()
     * GetMatrix().
     */
    itkLegacyMacro(virtual void SetRotationMatrix(const MatrixType & matrix));
    itkLegacyMacro(const MatrixType & GetRotationMatrix() const);
  #endif
  
  protected:
    Rigid2DTransform(unsigned int outputSpaceDimension, unsigned int parametersDimension);
    Rigid2DTransform(unsigned int parametersDimension);
    Rigid2DTransform();
  
    ~Rigid2DTransform();
  
    /**
      * Print contents of an Rigid2DTransform
      */
    virtual void PrintSelf(std::ostream & os, Indent indent) const ITK_OVERRIDE;
  
    /** Compute the matrix from angle. This is used in Set methods
     * to update the underlying matrix whenever a transform parameter
     * is changed. */
    virtual void ComputeMatrix() ITK_OVERRIDE;
  
    /** Compute the angle from the matrix. This is used to compute
     * transform parameters from a given matrix. This is used in
     * MatrixOffsetTransformBase::Compose() and
     * MatrixOffsetTransformBase::GetInverse(). */
    virtual void ComputeMatrixParameters() ITK_OVERRIDE;
  
    /** Update angle without recomputation of other internal variables. */
    void SetVarAngle(TScalar angle)
    {
      m_Angle = angle;
    }
  
  private:
    Rigid2DTransform(const Self &); // purposely not implemented
    void operator=(const Self &);   // purposely not implemented
  
    TScalar m_Angle;
  
  }; // class Rigid2DTransform
  
  // Back transform a point
  template <typename TScalar>
  inline
  typename Rigid2DTransform<TScalar>::InputPointType
  Rigid2DTransform<TScalar>::BackTransform(const OutputPointType & point) const
  {
    itkWarningMacro(
      <<
      "BackTransform(): This method is slated to be removed from ITK.  Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform."
      );
    return this->GetInverseMatrix() * ( point - this->GetOffset() );
  }
  
  // Back transform a vector
  template <typename TScalar>
  inline
  typename Rigid2DTransform<TScalar>::InputVectorType
  Rigid2DTransform<TScalar>::BackTransform(const OutputVectorType & vect) const
  {
    itkWarningMacro(
      <<
      "BackTransform(): This method is slated to be removed from ITK.  Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform."
      );
    return this->GetInverseMatrix() * vect;
  }
  
  // Back transform a vnl_vector
  template <typename TScalar>
  inline
  typename Rigid2DTransform<TScalar>::InputVnlVectorType
  Rigid2DTransform<TScalar>::BackTransform(const OutputVnlVectorType & vect) const
  {
    itkWarningMacro(
      <<
      "BackTransform(): This method is slated to be removed from ITK.  Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform."
      );
    return this->GetInverseMatrix() * vect;
  }
  
  // Back Transform a CovariantVector
  template <typename TScalar>
  inline
  typename Rigid2DTransform<TScalar>::InputCovariantVectorType
  Rigid2DTransform<TScalar>::BackTransform(const OutputCovariantVectorType & vect) const
  {
    itkWarningMacro(
      <<
      "BackTransform(): This method is slated to be removed from ITK.  Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform."
      );
    return this->GetMatrix() * vect;
  }
  
  }  // namespace itk
  
  #ifndef ITK_MANUAL_INSTANTIATION
  #include "itkRigid2DTransform.hxx"
  #endif
  
  #endif /* itkRigid2DTransform_h */
  