00001 // This is core/vcsl/vcsl_matrix.h 00002 #ifndef vcsl_matrix_h_ 00003 #define vcsl_matrix_h_ 00004 //: 00005 // \file 00006 // \brief A coordinate transformation specified by a transformation matrix 00007 // \author François BERTEL 00008 // 00009 // \verbatim 00010 // Modifications 00011 // 2000/07/19 François BERTEL Creation. 00012 // 2002/01/22 Peter Vanroose - return type of execute() and inverse() changed to non-ptr 00013 // 2002/01/28 Peter Vanroose - vcl_vector member matrix_ changed to non-ptr 00014 // 2002/12/30 Peter Vanroose - removed unused and commented out member _vector 00015 // 2004/09/17 Peter Vanroose - made matrix_list() non-virtual - it just returns a member and should not be overloaded 00016 // \endverbatim 00017 00018 #include <vcsl/vcsl_spatial_transformation.h> 00019 #include <vcsl/vcsl_matrix_sptr.h> 00020 #include <vcsl/vcsl_matrix_param.h> 00021 #include <vnl/vnl_vector.h> 00022 #include <vnl/vnl_matrix.h> 00023 00024 //: A coordinate transformation specified by a transformation matrix 00025 class vcsl_matrix 00026 :public vcsl_spatial_transformation 00027 { 00028 public: 00029 //*************************************************************************** 00030 // Constructors/Destructor 00031 //*************************************************************************** 00032 00033 // Default constructor 00034 vcsl_matrix() {} 00035 00036 // Destructor 00037 virtual ~vcsl_matrix() {} 00038 00039 //*************************************************************************** 00040 // Status report 00041 //*************************************************************************** 00042 00043 //: Is `this' invertible at time `time'? 00044 // REQUIRE: valid_time(time) 00045 // Pure virtual function of vcsl_spatial_transformation 00046 virtual bool is_invertible(double time) const; 00047 00048 //: Is `this' correctly set ? 00049 // Virtual function of vcsl_spatial_transformation 00050 virtual bool is_valid() const 00051 { return vcsl_spatial_transformation::is_valid() && this->duration()==matrix_.size(); } 00052 00053 //*************************************************************************** 00054 // Transformation parameters 00055 //*************************************************************************** 00056 00057 //: Set the parameters of a static translation 00058 void set_static( vcsl_matrix_param_sptr new_matrix); 00059 00060 //: Set the direction vector variation along the time 00061 void set_matrix(list_of_vcsl_matrix_param_sptr const& m) { matrix_=m; } 00062 00063 list_of_vcsl_matrix_param_sptr matrix_list() const { return matrix_; } 00064 00065 // Pure virtual function of vcsl_spatial_transformation 00066 virtual vnl_vector<double> execute(const vnl_vector<double> &v, 00067 double time) const; 00068 00069 // Pure virtual function of vcsl_spatial_transformation 00070 virtual vnl_vector<double> inverse(const vnl_vector<double> &v, 00071 double time) const; 00072 00073 protected: 00074 vnl_matrix<double> param_to_matrix(vcsl_matrix_param_sptr from,bool type) const; 00075 vnl_matrix<double> matrix_value(double time, bool type) const; 00076 list_of_vcsl_matrix_param_sptr matrix_; 00077 }; 00078 00079 #endif // vcsl_matrix_h_
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