Rigid transformations are involved in a wide range of digital image processing applications. When applied on such discrete images, rigid transformations are however usually performed in their associated continuous space, then requiring a subsequent digitization of the result. In this article, we propose to study rigid transformations of digital images as a fully discrete process. In particular, we investigate a combinatorial structure modelling the whole space of digital rigid transformations on any subset of Z^2 of size N*N. We describe this combinatorial structure, which presents a space complexity O(N^9) and we propose an algorithm enabling to build it in linear time with respect to this space complexity. This algorithm, which handles real (i.e. non-rational) values related to the continuous transformations associated to the discrete ones, is however defined in a fully discrete form, leading to exact computation.