Transformation.h

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#ifndef ANA_REFERENCE_TRANSFORMATION_H
#define ANA_REFERENCE_TRANSFORMATION_H
 
//--- header files ------------------------------------------------------------
 
#include <aims/transformation/affinetransformation3d.h>
 
 
//--- class declarations ------------------------------------------------------
 
namespace aims
{
  class Quaternion;
}
 
namespace anatomist
{
 
  class Referential;

 
  class Transformation
  { 
  public:
    Transformation( Referential *,Referential *, bool regist = false, 
                    bool generated = false );
    Transformation( Referential *,Referential *, 
                    const Transformation & trans );
    Transformation();
    virtual ~Transformation();

    Transformation & operator = ( const Transformation & trans );
    Transformation & operator = ( const aims::AffineTransformation3d & trans );
    Transformation & operator *= ( const Transformation & trans );
    // Transformation & operator += ( const Transformation & trans );
    Transformation operator - () const;
    aims::AffineTransformation3d & motion() { return _motion; }
    const aims::AffineTransformation3d & motion() const { return _motion; }
 
    void setRotation( float** r );
    void setTranslation( float* t );
    void setMatrix( float** m );
    void setMatrixT( float m[4][3] );
    void SetRotation(int , int , float );
    void SetTranslation(int , float );
    float Rotation(int ,int );
    aims::Quaternion quaternion() const;
    void setQuaternion( const aims::Quaternion & q );
    float Translation(int );
    Point3df translation() const;
    Referential* source() const { return( _source ); }
    Referential* destination() const { return( _dest ); }
    void invert();
    void invertReferentials();
    bool isDirect() const;

    Point3df transform( const Point3df & pos ) const;
    /* transforms cube (pmin1, pmin2) and builds the new bounding box 
       in the new ref */
    void transformBoundingBox( const Point3df & pmin1, const Point3df & pmax1, 
                               Point3df & pmin2, Point3df & pmax2 );

    void registerTrans();
    void unregisterTrans();
    bool isGenerated() const { return( _generated ); }
    void setGenerated( bool x ) { _generated = x; }

    void addMotionToHistory( const aims::AffineTransformation3d & );
    void undo();
    void redo();
    std::size_t motionHistorySize() const
    {
      return _motionHistory.size();
    }

    int motionHistoryIndex() const
    {
      return _motionHistoryIndex;
    }

    static Point3df transform( const Point3df & pos, const Transformation* tra, 
                               const Point3df & voxSizeOrg,
                               const Point3df & voxSizeDst );
    static Point3df transform( const Point3df & pos, const Referential* orgRef, 
                               const Referential* dstRef,
                               const Point3df & voxSizeOrg,
                               const Point3df & voxSizeDst );
    static Point3df transform( const Point3df & pos, 
                               const Point3df & voxSizeOrg,
                               const Point3df & voxSizeDst );
    static Point3df transform( const Point3df & pos, const Transformation* tra, 
                               const Point3df & voxSizeDst );
    static Point3df transform( const Point3df & pos, 
                               const Point3df & voxSizeOrg,
                               const Transformation* tra );
    static Point3df transform( const Point3df & pos, 
                               const Point3df & voxSizeOrg );
    static Point3df transformDG( const Point3df & pos, 
                                 const Point3df & voxSizeDst );
    void notifyChange();
 
  protected:
    aims::AffineTransformation3d      _motion;
    Referential *_source;
    Referential *_dest;
    bool _generated;
    std::vector <aims::AffineTransformation3d> _motionHistory;
    int _motionHistoryIndex;
  };
 
 
  //   inline functions
 
 
  inline Point3df 
  Transformation::transform( const Point3df & pos, const Transformation* tra, 
                             const Point3df & voxSizeOrg,
                             const Point3df & voxSizeDst )
  {
    Point3df    pt = tra->transform( Point3df( pos[0] * voxSizeOrg[0], 
                                               pos[1] * voxSizeOrg[1],
                                               pos[2] * voxSizeOrg[2] ) );
    return( Point3df( pt[0] / voxSizeDst[0], pt[1] / voxSizeDst[1], 
                      pt[2] / voxSizeDst[2] ) );
  }
 
 
  inline Point3df 
  Transformation::transform( const Point3df & pos, 
                             const Point3df & voxSizeOrg,
                             const Point3df & voxSizeDst )
  {
    return( Point3df( pos[0] * voxSizeOrg[0] / voxSizeDst[0], 
                      pos[1] * voxSizeOrg[1] / voxSizeDst[1],
                      pos[2] * voxSizeOrg[2] / voxSizeDst[2] ) );
  }
 
 
  inline Point3df 
  Transformation::transform( const Point3df & pos, const Point3df & voxSizeOrg, 
                             const Transformation* tra )
  {
    return( tra->transform( Point3df( pos[0] * voxSizeOrg[0], 
                                      pos[1] * voxSizeOrg[1],
                                      pos[2] * voxSizeOrg[2] ) ) );
  }
 
 
  inline Point3df 
  Transformation::transform( const Point3df & pos, const Transformation* tra, 
                             const Point3df & voxSizeDst )
  {
    Point3df    pt = tra->transform( pos );
    return( Point3df( pt[0] / voxSizeDst[0], pt[1] / voxSizeDst[1], 
                      pt[2] / voxSizeDst[2] ) );
  }
 
 
  inline Point3df 
  Transformation::transform( const Point3df & pos, 
                             const Point3df & voxSizeOrg )
  {
    return( Point3df( pos[0] * voxSizeOrg[0], pos[1] * voxSizeOrg[1], 
                      pos[2] * voxSizeOrg[2] ) );
  }
 
 
  inline Point3df 
  Transformation::transformDG( const Point3df & pos, 
                               const Point3df & voxSizeDst )
  {
    return( Point3df( pos[0] / voxSizeDst[0], pos[1] / voxSizeDst[1], 
                      pos[2] / voxSizeDst[2] ) );
  }
 
  inline Point3df
  Transformation::translation() const
  {
    return _motion.translation();
  }
 
}
 
 
namespace carto
{
  DECLARE_GENERIC_OBJECT_TYPE( anatomist::Transformation * )
  DECLARE_GENERIC_OBJECT_TYPE( std::set<anatomist::Transformation *> )
  DECLARE_GENERIC_OBJECT_TYPE( std::vector<anatomist::Transformation *> )
  DECLARE_GENERIC_OBJECT_TYPE( std::list<anatomist::Transformation *> )
}
 
#endif