detray::algebra::fastor::math::transform3< scalar_t > Struct Template Reference

Transform wrapper class to ensure standard API towards the Fastor library. More...

#include <algebra/impl/fastor_transform3.hpp>

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

Public Types
Type definitions for the struct
using	scalar_type = scalar_t
	Scalar type used by the transform.
template<std::size_t N>
using	array_type = fastor::Vector<scalar_t, 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 = fastor::Matrix<scalar_type, 4UL, 4UL>
	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
constexpr	transform3 ()
	Default constructor: identity.
	transform3 (const array_type< 16 > &ma)
	Constructor with arguments: matrix as Fastor::Tensor<scalar_t, 16> of scalars.
	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 matrix44	matrix () const
	This method retrieves the 4x4 matrix of a transform.
constexpr matrix44	matrix_inverse () const
	This method retrieves the 4x4 matrix of an inverse transform.
constexpr bool	operator== (const transform3 &rhs) const
	Equality operator.
constexpr point3	point_to_global (const point2 &v) const
	This method transform from a point from the local 3D cartesian frame to the global 3D cartesian frame.
constexpr point3	point_to_global (const point3 &v) const
	This method transform from a point from the local 3D cartesian frame to the global 3D cartesian frame.
constexpr point3	point_to_local (const point3 &v) const
	Transform a global point to local coordinates.
constexpr auto	rotation () const
	This method retrieves the rotation of a transform.
constexpr vector3	translation () const
	This method retrieves the translation of a transform.
constexpr point3	vector_to_global (const vector2 &v) const
	This method transform from a vector from the local 2D cartesian frame to the global 3D cartesian frame.
constexpr point3	vector_to_global (const vector3 &v) const
	This method transform from a vector from the local 3D cartesian frame to the global 3D cartesian frame.
constexpr point3	vector_to_local (const vector3 &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.

Public Attributes
Data objects
matrix44	_data
	Local-to-global transformation matrix.
matrix44	_data_inv
	Global-to-local transformation matrix.

Detailed Description

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

Transform wrapper class to ensure standard API towards the Fastor library.

Constructor & Destructor Documentation

transform3() [1/7]

template<concepts::scalar scalar_t>

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

explicit

Constructor with arguments: translation.

Parameters

t	is the translation

transform3() [4/7]

template<concepts::scalar scalar_t>

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

explicit

Constructor with arguments: matrix as Fastor::Tensor<scalar_t, 16> of scalars.

Parameters

ma	is the full 4x4 matrix as a 16-element array

transform3() [7/7]

template<concepts::scalar scalar_t>

detray::algebra::fastor::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>

matrix44 detray::algebra::fastor::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>

matrix44 detray::algebra::fastor::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::fastor::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>

point3 detray::algebra::fastor::math::transform3< scalar_t >::point_to_global ( const point2 & 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>

point3 detray::algebra::fastor::math::transform3< scalar_t >::point_to_global ( const point3 & 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_local()

template<concepts::scalar scalar_t>

point3 detray::algebra::fastor::math::transform3< scalar_t >::point_to_local ( const point3 & v ) const

constexpr

Transform a global point to local coordinates.

Parameters

v	point in global coordinates

Returns

point in local coordinates

rotation()

template<concepts::scalar scalar_t>

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

constexpr

This method retrieves the rotation of a transform.

Returns

rotation matrix

translation()

template<concepts::scalar scalar_t>

vector3 detray::algebra::fastor::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>

point3 detray::algebra::fastor::math::transform3< scalar_t >::vector_to_global ( const vector2 & v ) const

constexpr

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

Parameters

v	vector in local plane coordinates

Returns

vector in global coordinates

vector_to_global() [2/2]

template<concepts::scalar scalar_t>

point3 detray::algebra::fastor::math::transform3< scalar_t >::vector_to_global ( const vector3 & 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>

point3 detray::algebra::fastor::math::transform3< scalar_t >::vector_to_local ( const vector3 & 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::fastor::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::fastor::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::fastor::math::transform3< scalar_t >::z ( ) const

constexpr

This method retrieves z axis.

Returns

z-axis vector