/*=========================================================================

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkEuler3DTransform.h,v $
  Language:  C++
  Date:      $Date: 2007/01/30 20:56:07 $
  Version:   $Revision: 1.13 $

  Copyright (c) Insight Software Consortium. All rights reserved.
  See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.

     This software is distributed WITHOUT ANY WARRANTY; without even 
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
     PURPOSE.  See the above copyright notices for more information.

=========================================================================*/
#ifndef __itkEuler3DTransform_h
#define __itkEuler3DTransform_h

#include <iostream>
#include "itkRigid3DTransform.h"

namespace itk
{

/** \brief Euler3DTransform of a vector space (e.g. space coordinates)
 *
 * This transform applies a rotation and translation to the space given 3 euler
 * angles and a 3D translation. Rotation is about a user specified center.
 *
 * 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 6 elements.
 * The first 3 represents three euler angle of rotation respectively about
 * the X, Y and Z axis. The last 3 parameters defines the translation in each
 * dimension.
 *
 * The serialization of the fixed parameters is an array of 3 elements defining
 * the center of rotation.
 *
 * \ingroup Transforms
 */
template < class TScalarType=double >    // Data type for scalars (float or double)
class ITK_EXPORT Euler3DTransform : 
            public Rigid3DTransform< TScalarType > 
{
public:
  /** Standard class typedefs. */
  typedef Euler3DTransform                  Self;
  typedef Rigid3DTransform< TScalarType >   Superclass;
  typedef SmartPointer<Self>                Pointer;
  typedef SmartPointer<const Self>          ConstPointer;
    
  /** New macro for creation of through a Smart Pointer. */
  itkNewMacro( Self );

  /** Run-time type information (and related methods). */
  itkTypeMacro( Euler3DTransform, Rigid3DTransform );

  /** Dimension of the space. */
  itkStaticConstMacro(SpaceDimension, unsigned int, 3);
  itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(ParametersDimension, unsigned int, 6);

  typedef typename Superclass::ParametersType             ParametersType;
  typedef typename Superclass::JacobianType               JacobianType;
  typedef typename Superclass::ScalarType                 ScalarType;
  typedef typename Superclass::InputVectorType            InputVectorType;
  typedef typename Superclass::OutputVectorType           OutputVectorType;
  typedef typename Superclass::InputCovariantVectorType  
                                                     InputCovariantVectorType;
  typedef typename Superclass::OutputCovariantVectorType  
                                                     OutputCovariantVectorType;
  typedef typename Superclass::InputVnlVectorType         InputVnlVectorType;
  typedef typename Superclass::OutputVnlVectorType        OutputVnlVectorType;
  typedef typename Superclass::InputPointType             InputPointType;
  typedef typename Superclass::OutputPointType            OutputPointType;
  typedef typename Superclass::MatrixType                 MatrixType;
  typedef typename Superclass::InverseMatrixType          InverseMatrixType;
  typedef typename Superclass::CenterType                 CenterType;
  typedef typename Superclass::TranslationType            TranslationType;
  typedef typename Superclass::OffsetType                 OffsetType;

  typedef typename Superclass::ScalarType                 AngleType;
  
  /** Set/Get the transformation from a container of parameters
   * This is typically used by optimizers.  There are 6 parameters. The first
   * three represent the angles to rotate around the coordinate axis, and the
   * last three represents the offset. */
  void SetParameters( const ParametersType & parameters );
  const ParametersType& GetParameters(void) const;

  /** Set the rotational part of the transform. */
  void SetRotation(ScalarType angleX,ScalarType angleY,ScalarType angleZ);
  itkGetConstMacro(AngleX, ScalarType);
  itkGetConstMacro(AngleY, ScalarType);
  itkGetConstMacro(AngleZ, ScalarType);

  /** This method computes the Jacobian matrix of the transformation.
   * given point or vector, returning the transformed point or
   * vector. The rank of the Jacobian will also indicate if the 
   * transform is invertible at this point. */
  const JacobianType & GetJacobian(const InputPointType  &point ) const;

  /** Set/Get the order of the computation. Default ZXY */
  itkSetMacro(ComputeZYX,bool);
  itkGetConstMacro(ComputeZYX,bool);

  virtual void SetIdentity(void);


protected:
  Euler3DTransform();
  Euler3DTransform(const MatrixType & matrix,
                   const OutputPointType & offset);
  Euler3DTransform(unsigned int outputSpaceDims,
                   unsigned int paramsSpaceDims);

  ~Euler3DTransform(){};

  void PrintSelf(std::ostream &os, Indent indent) const;

  void SetVarRotation(ScalarType angleX, ScalarType angleY, ScalarType angleZ)
    { m_AngleX = angleX; m_AngleY = angleY; m_AngleZ = angleZ; };

  /** Compute the components of the rotation matrix in the superclass. */
  void ComputeMatrix(void);
 void ComputeMatrixParameters(void);

private:
  Euler3DTransform(const Self&); //purposely not implemented
  void operator=(const Self&); //purposely not implemented

  ScalarType  m_AngleX; 
  ScalarType  m_AngleY; 
  ScalarType  m_AngleZ;
  bool        m_ComputeZYX;

}; //class Euler3DTransform


}  // namespace itk

// Define instantiation macro for this template.
#define ITK_TEMPLATE_Euler3DTransform(_, EXPORT, x, y) namespace itk { \
  _(1(class EXPORT Euler3DTransform< ITK_TEMPLATE_1 x >)) \
  namespace Templates { typedef Euler3DTransform< ITK_TEMPLATE_1 x > \
                                            Euler3DTransform##y; } \
  }

#if ITK_TEMPLATE_EXPLICIT
# include "Templates/itkEuler3DTransform+-.h"
#endif

#if ITK_TEMPLATE_TXX
# include "itkEuler3DTransform.txx"
#endif

#endif /* __itkEuler3DTransform_h */
