Transform wrapper class to ensure standard API within different plugins. More...

#include <algebra/impl/eigen_transform3.hpp>

Inheritance diagram for detray::algebra::eigen::math::transform3< scalar_t >:

Public Types
Type definitions for the struct
using	scalar_type = scalar_t
	Scalar type used by the transform.
template<int N>
using	array_type = eigen::array<scalar_type, N>
	Array type used by the transform.
using	vector2 = array_type<2>
	Vector and point types.
using	vector3 = array_type<3>
	Three-component vector type used for spatial quantities.
using	point2 = vector2
	Two-dimensional point representation.
using	point3 = vector3
	Three-dimensional point representation.
using	matrix44
	4x4 matrix type
template<concepts::scalar o_scalar_t>
using	other_type = transform3<o_scalar_t>
	Helper type to cast this to another floating point precision.

Public Member Functions
	transform3 ()
	Default constructor: set contents to identity matrices.
	transform3 (const array_type< 16 > &ma)
	Constructor with arguments: matrix as std::array of scalar.
	transform3 (const matrix44 &m)
	Constructor with arguments: matrix.
	transform3 (const matrix44 &m, const matrix44 &m_inv)
	Constructor with arguments: matrix and its inverse.
	transform3 (const transform3 &rhs)=default
	Copy an existing transform.
	transform3 (const vector3 &t)
	Constructor with arguments: translation.
	transform3 (const vector3 &t, const vector3 &x, const vector3 &y, const vector3 &z, bool get_inverse=true)
	Constructor with arguments: t, x, y, z.
	transform3 (const vector3 &t, const vector3 &z, const vector3 &x, bool get_inverse=true)
	Constructor with arguments: t, z, x.
constexpr const matrix44 &	matrix () const
	This method retrieves the 4x4 matrix of a transform.
constexpr const matrix44 &	matrix_inverse () const
	This method retrieves the 4x4 matrix of an inverse transform.
constexpr bool	operator== (const transform3 &rhs) const
	Equality operator.
template<typename derived_type> requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 3 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)
constexpr auto	point_to_global (const Eigen::MatrixBase< derived_type > &v) const
	This method transform from a point from the local 3D cartesian frame to the global 3D cartesian frame.
template<typename derived_type> requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 2 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)
constexpr auto	point_to_global (const Eigen::MatrixBase< derived_type > &v) const
	This method transform from a point from the local 2D cartesian frame to the global 3D cartesian frame.
template<typename derived_type> requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 3 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)
constexpr auto	point_to_local (const Eigen::MatrixBase< derived_type > &v) const
	This method transform from a vector from the global 3D cartesian frame into the local 3D cartesian frame.
constexpr auto	rotation () const
	This method retrieves the rotation of a transform.
constexpr point3	translation () const
	This method retrieves the translation of a transform.
template<typename derived_type> requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 3 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)
constexpr auto	vector_to_global (const Eigen::MatrixBase< derived_type > &v) const
	This method transform from a vector from the local 3D cartesian frame to the global 3D cartesian frame.
template<typename derived_type> requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 2 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)
constexpr auto	vector_to_global (const Eigen::MatrixBase< derived_type > &v) const
	This method transform from a vector from the local 3D cartesian frame to the global 3D cartesian frame.
template<typename derived_type> requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 3 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)
constexpr auto	vector_to_local (const Eigen::MatrixBase< derived_type > &v) const
	This method transform from a vector from the global 3D cartesian frame into the local 3D cartesian frame.
constexpr point3	x () const
	This method retrieves x axis.
constexpr point3	y () const
	This method retrieves y axis.
constexpr point3	z () const
	This method retrieves z axis.

Static Public Member Functions
template<typename derived_type> requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 3 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)
static constexpr auto	rotate (const Eigen::Transform< scalar_type, 3, Eigen::Affine > &m, const Eigen::MatrixBase< derived_type > &v)
	Rotate a vector into / from a frame.
template<typename derived_type> requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 2 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)
static constexpr auto	rotate (const Eigen::Transform< scalar_type, 3, Eigen::Affine > &m, const Eigen::MatrixBase< derived_type > &v)
	Rotate a vector into / from a frame.

Public Attributes
Data objects
Eigen::Transform< scalar_type, 3, Eigen::Affine >	_data
	Local-to-global affine transformation.
Eigen::Transform< scalar_type, 3, Eigen::Affine >	_data_inv
	Global-to-local affine transformation.

Detailed Description

template<concepts::scalar scalar_t>
struct detray::algebra::eigen::math::transform3< scalar_t >

Transform wrapper class to ensure standard API within different plugins.

Member Typedef Documentation

◆ matrix44

template<concepts::scalar scalar_t>

using detray::algebra::eigen::math::transform3< scalar_t >::matrix44

Initial value:

typename Eigen::Transform<scalar_type, 3, Eigen::Affine>::MatrixType

4x4 matrix type

Constructor & Destructor Documentation

◆ transform3() [1/7]

template<concepts::scalar scalar_t>

detray::algebra::eigen::math::transform3< scalar_t >::transform3	(	const vector3 &	t,
		const vector3 &	x,
		const vector3 &	y,
		const vector3 &	z,
		bool	get_inverse = true )

Constructor with arguments: t, x, y, z.

Parameters

t	the translation (or origin of the new frame)
x	the x axis of the new frame
y	the y axis of the new frame
z	the z axis of the new frame, normal vector for planes
get_inverse	whether to compute and store the inverse

◆ transform3() [2/7]

template<concepts::scalar scalar_t>

detray::algebra::eigen::math::transform3< scalar_t >::transform3	(	const vector3 &	t,
		const vector3 &	z,
		const vector3 &	x,
		bool	get_inverse = true )

Constructor with arguments: t, z, x.

Parameters

t	the translation (or origin of the new frame)
z	the z axis of the new frame, normal vector for planes
x	the x axis of the new frame
get_inverse	whether to compute and store the inverse

◆ transform3() [3/7]

template<concepts::scalar scalar_t>

detray::algebra::eigen::math::transform3< scalar_t >::transform3 ( const vector3 & t )

explicit

Constructor with arguments: translation.

Parameters

t	is the transform

◆ transform3() [4/7]

template<concepts::scalar scalar_t>

detray::algebra::eigen::math::transform3< scalar_t >::transform3 ( const matrix44 & m )

explicit

Constructor with arguments: matrix.

Parameters

m	is the full 4x4 matrix

◆ transform3() [5/7]

template<concepts::scalar scalar_t>

detray::algebra::eigen::math::transform3< scalar_t >::transform3	(	const matrix44 &	m,
		const matrix44 &	m_inv )

Constructor with arguments: matrix and its inverse.

Parameters

m	is the full 4x4 matrix
m_inv	is the inverse to m

◆ transform3() [6/7]

template<concepts::scalar scalar_t>

detray::algebra::eigen::math::transform3< scalar_t >::transform3 ( const array_type< 16 > & ma )

explicit

Constructor with arguments: matrix as std::array of scalar.

Parameters

ma	is the full 4x4 matrix as a 16 array

◆ transform3() [7/7]

template<concepts::scalar scalar_t>

detray::algebra::eigen::math::transform3< scalar_t >::transform3 ( const transform3< scalar_t > & rhs )

default

Copy an existing transform.

Parameters

rhs	Transform whose matrices are copied.

Member Function Documentation

◆ matrix()

template<concepts::scalar scalar_t>

const matrix44 & detray::algebra::eigen::math::transform3< scalar_t >::matrix ( ) const

constexpr

This method retrieves the 4x4 matrix of a transform.

Returns: forward transformation matrix

◆ matrix_inverse()

template<concepts::scalar scalar_t>

const matrix44 & detray::algebra::eigen::math::transform3< scalar_t >::matrix_inverse ( ) const

constexpr

This method retrieves the 4x4 matrix of an inverse transform.

Returns: inverse transformation matrix

◆ operator==()

template<concepts::scalar scalar_t>

bool detray::algebra::eigen::math::transform3< scalar_t >::operator== ( const transform3< scalar_t > & rhs ) const

constexpr

Equality operator.

Parameters

rhs	transform to compare with

Returns: whether the transforms have equal spatial mappings

◆ point_to_global() [1/2]

template<concepts::scalar scalar_t>

template<typename derived_type>
requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 3 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)

auto detray::algebra::eigen::math::transform3< scalar_t >::point_to_global ( const Eigen::MatrixBase< derived_type > & v ) const

constexpr

This method transform from a point from the local 3D cartesian frame to the global 3D cartesian frame.

Parameters

v	point in local coordinates

Returns: point in global coordinates

◆ point_to_global() [2/2]

template<concepts::scalar scalar_t>

template<typename derived_type>
requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 2 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)

auto detray::algebra::eigen::math::transform3< scalar_t >::point_to_global ( const Eigen::MatrixBase< derived_type > & v ) const

constexpr

This method transform from a point from the local 2D cartesian frame to the global 3D cartesian frame.

Parameters

v	point in local plane coordinates

Returns: point in global coordinates

◆ point_to_local()

template<concepts::scalar scalar_t>

template<typename derived_type>
requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 3 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)

auto detray::algebra::eigen::math::transform3< scalar_t >::point_to_local ( const Eigen::MatrixBase< derived_type > & v ) const

constexpr

This method transform from a vector from the global 3D cartesian frame into the local 3D cartesian frame.

Parameters

v	vector in global coordinates

Returns: vector in local coordinates

◆ rotate() [1/2]

template<concepts::scalar scalar_t>

template<typename derived_type>
requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 3 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)

constexpr auto detray::algebra::eigen::math::transform3< scalar_t >::rotate	(	const Eigen::Transform< scalar_type, 3, Eigen::Affine > &	m,
		const Eigen::MatrixBase< derived_type > &	v )

staticconstexpr

Rotate a vector into / from a frame.

Parameters

m	is the rotation matrix
v	is the vector to be rotated

Returns: the rotated vector

◆ rotate() [2/2]

template<concepts::scalar scalar_t>

template<typename derived_type>
requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 2 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)

constexpr auto detray::algebra::eigen::math::transform3< scalar_t >::rotate	(	const Eigen::Transform< scalar_type, 3, Eigen::Affine > &	m,
		const Eigen::MatrixBase< derived_type > &	v )

staticconstexpr

Rotate a vector into / from a frame.

Parameters

m	is the rotation matrix
v	is the vector to be rotated

Returns: the rotated vector

◆ rotation()

template<concepts::scalar scalar_t>

auto detray::algebra::eigen::math::transform3< scalar_t >::rotation ( ) const

constexpr

This method retrieves the rotation of a transform.

Returns: rotation matrix

◆ translation()

template<concepts::scalar scalar_t>

point3 detray::algebra::eigen::math::transform3< scalar_t >::translation ( ) const

constexpr

This method retrieves the translation of a transform.

Returns: translation vector

◆ vector_to_global() [1/2]

template<concepts::scalar scalar_t>

template<typename derived_type>
requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 3 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)

auto detray::algebra::eigen::math::transform3< scalar_t >::vector_to_global ( const Eigen::MatrixBase< derived_type > & v ) const

constexpr

This method transform from a vector from the local 3D cartesian frame to the global 3D cartesian frame.

Parameters

v	vector in local coordinates

Returns: vector in global coordinates

◆ vector_to_global() [2/2]

template<concepts::scalar scalar_t>

template<typename derived_type>
requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 2 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)

auto detray::algebra::eigen::math::transform3< scalar_t >::vector_to_global ( const Eigen::MatrixBase< derived_type > & v ) const

constexpr

This method transform from a vector from the local 3D cartesian frame to the global 3D cartesian frame.

Parameters

v	vector in local coordinates

Returns: vector in global coordinates

◆ vector_to_local()

template<concepts::scalar scalar_t>

template<typename derived_type>
requires (Eigen::MatrixBase<derived_type>::RowsAtCompileTime == 3 && Eigen::MatrixBase<derived_type>::ColsAtCompileTime == 1)

auto detray::algebra::eigen::math::transform3< scalar_t >::vector_to_local ( const Eigen::MatrixBase< derived_type > & v ) const

constexpr

This method transform from a vector from the global 3D cartesian frame into the local 3D cartesian frame.

Parameters

v	vector in global coordinates

Returns: vector in local coordinates

◆ x()

template<concepts::scalar scalar_t>

point3 detray::algebra::eigen::math::transform3< scalar_t >::x ( ) const

constexpr

This method retrieves x axis.

Returns: x-axis vector

◆ y()

template<concepts::scalar scalar_t>

point3 detray::algebra::eigen::math::transform3< scalar_t >::y ( ) const

constexpr

This method retrieves y axis.

Returns: y-axis vector

◆ z()

template<concepts::scalar scalar_t>

point3 detray::algebra::eigen::math::transform3< scalar_t >::z ( ) const

constexpr

This method retrieves z axis.

Returns: z-axis vector

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ matrix44

Constructor & Destructor Documentation

◆ transform3() [1/7]

◆ transform3() [2/7]

◆ transform3() [3/7]

◆ transform3() [4/7]

◆ transform3() [5/7]

◆ transform3() [6/7]

◆ transform3() [7/7]

Member Function Documentation

◆ matrix()

◆ matrix_inverse()

◆ operator==()

◆ point_to_global() [1/2]

◆ point_to_global() [2/2]

◆ point_to_local()

◆ rotate() [1/2]

◆ rotate() [2/2]

◆ rotation()

◆ translation()

◆ vector_to_global() [1/2]

◆ vector_to_global() [2/2]

◆ vector_to_local()

◆ x()

◆ y()

◆ z()