detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t > Struct Template Reference

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

#include <detray/algebra/generic/impl/generic_transform3.hpp>

Inheritance diagram for detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >:

Public Types
Type definitions for the struct
using	scalar_type = scalar_t
	Scalar type.
template<index_t N>
using	array_type = array_t<scalar_t, N>
	Array type used by the transform.
using	matrix44 = matrix_t<scalar_t, 4, 4>
	Homogeneous matrix type used to store the transform.
using	vector2 = detray::traits::get_vector_t<matrix44, 2, scalar_t>
	Two-component vector type used for local plane coordinates.
using	vector3 = detray::traits::get_vector_t<matrix44, 3, scalar_t>
	Three-component vector type used for spatial quantities.
using	point2 = vector2
	Two-dimensional point representation (same storage as a vector).
using	point3 = vector3
	Three-dimensional point representation (same storage as a vector).
using	element_getter = detray::traits::element_getter_t<matrix44>
	Function (object) used for accessing a matrix element/block.
using	block_getter = detray::traits::block_getter_t<matrix44>
	Accessor for the 3x3 rotation block of the homogeneous matrix.
using	matrix_inversion = generic::matrix::inverse::hard_coded<matrix44>
	Matrix inversion algorithm.
template<concepts::scalar o_scalar_t>
using	other_type = transform3<index_t, o_scalar_t, matrix_t, array_t>
	Helper type to cast this to another floating point precision.

Public Member Functions
constexpr	transform3 ()=default
	Default constructor: identity.
	transform3 (const array_type< 16 > &ma)
	Constructor with arguments: matrix as 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 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.
constexpr point3	point_to_global (const point2 &v) const
	This method transform from a point from the local 2D 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.
auto constexpr	rotation () const
	This method retrieves the rotation of a transform.
constexpr point3	translation () const
	This method retrieves the translation of a transform.
constexpr vector3	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 vector3	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 vector3	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.

Static Public Member Functions
static constexpr vector3	rotate (const matrix44 &m, const vector2 &v)
	Rotate a vector into / from a frame.
static constexpr vector3	rotate (const matrix44 &m, const vector3 &v)
	Rotate a vector into / from a frame.

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

Detailed Description

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>
struct detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >

Transform wrapper class to ensure standard API within different plugins.

Member Typedef Documentation

point2

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

using detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::point2 = vector2

Two-dimensional point representation (same storage as a vector).

Two-dimensional point representation.

point3

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

using detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::point3 = vector3

Three-dimensional point representation (same storage as a vector).

Three-dimensional point representation.

Constructor & Destructor Documentation

transform3() [1/6]

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_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 matrix

transform3() [2/6]

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_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 matrix

Note

y will be constructed by cross product

transform3() [3/6]

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::transform3 ( const vector3 & t )

explicit

Constructor with arguments: translation.

Parameters

t	translation of the frame origin in global coordinates

transform3() [4/6]

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::transform3 ( const matrix44 & m )

explicit

Constructor with arguments: matrix.

Parameters

m	is the full 4x4 matrix

transform3() [5/6]

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_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() [6/6]

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::transform3 ( const array_type< 16 > & ma )

explicit

Constructor with arguments: matrix as array of scalar.

Parameters

ma	is the full 4x4 matrix 16 array

Member Function Documentation

matrix()

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

const matrix44 & detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::matrix ( ) const

constexpr

This method retrieves the 4x4 matrix of a transform.

Returns

the local-to-global homogeneous matrix

matrix_inverse()

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

const matrix44 & detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::matrix_inverse ( ) const

constexpr

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

Returns

the global-to-local homogeneous matrix

operator==()

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

bool detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::operator== ( const transform3< index_t, scalar_t, matrix_t, array_t > & rhs ) const

constexpr

Equality operator.

Parameters

rhs	transform to compare with

Returns

whether the forward matrices have equal spatial entries

point_to_global() [1/2]

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

point3 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::point_to_global ( const point2 & 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

the point in global coordinates

point_to_global() [2/2]

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

point3 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_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

the point in global coordinates

point_to_local()

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

point3 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::point_to_local ( const point3 & v ) const

constexpr

Transform a global point to local coordinates.

Parameters

v	point in global coordinates

Returns

the point in local coordinates

rotate() [1/2]

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

constexpr vector3 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::rotate ( const matrix44 & m, const vector2 & 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::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

constexpr vector3 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::rotate ( const matrix44 & m, const vector3 & 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::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

auto constexpr detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::rotation ( ) const

constexpr

This method retrieves the rotation of a transform.

Returns

rotation matrix

translation()

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

point3 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::translation ( ) const

constexpr

This method retrieves the translation of a transform.

Returns

translation vector

vector_to_global() [1/2]

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

vector3 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_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

the vector in global coordinates

vector_to_global() [2/2]

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

vector3 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_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

the vector in global coordinates

vector_to_local()

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

vector3 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_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

the vector in local coordinates

x()

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

point3 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::x ( ) const

constexpr

This method retrieves x axis.

Returns

x-axis vector

y()

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

point3 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::y ( ) const

constexpr

This method retrieves y axis.

Returns

y-axis vector

z()

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

point3 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::z ( ) const

constexpr

This method retrieves z axis.

Returns

z-axis vector

Member Data Documentation

_data

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

matrix44 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::_data

Initial value:

{
      generic::math::identity<matrix44>()}

Local-to-global homogeneous transformation matrix.

_data_inv

template<concepts::index index_t, concepts::scalar scalar_t, template< typename, index_t, index_t > class matrix_t, template< typename, index_t > class array_t>

matrix44 detray::algebra::generic::math::transform3< index_t, scalar_t, matrix_t, array_t >::_data_inv

Initial value:

{
      generic::math::identity<matrix44>()}

Global-to-local homogeneous transformation matrix.