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

#include <algebra/impl/vc_aos_transform3.hpp>

Inheritance diagram for detray::algebra::vc_aos::math::transform3< array_t, scalar_t >:

Collaboration diagram for detray::algebra::vc_aos::math::transform3< array_t, 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 = array_t<scalar_type, N>
	Vector storage with N components in the selected array layout.
using	vector2 = algebra::storage::vector<2u, scalar_type, array_t>
	Vector and point types.
using	vector3 = algebra::storage::vector<3u, scalar_type, array_t>
	Three-component vector type used for spatial quantities.
using	point2 = vector2
	Two-dimensional point representation.
using	point3 = vector3
	Three-dimensional point representation.
using	matrix44 = algebra::storage::matrix<array_t, scalar_type, 3u, 4u>
	4x4 matrix type (Last row is {0, 0, 0, 1} and can be omitted)
using	column_t = typename matrix44::vector_type
	Column type used to construct the stored matrix.
using	element_getter = algebra::storage::element_getter
	Function (object) used for accessing a matrix element.
template<concepts::scalar o_scalar_t>
using	other_type = transform3<array_t, 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 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)
	Constructor with arguments: t, x, y, z.
	transform3 (const vector3 &t, const vector3 &z, const vector3 &x)
	Constructor with arguments: t, z, x.
constexpr scalar_type	determinant (const matrix44 &m) const
	The determinant of a 4x4 matrix.
constexpr matrix44	invert (const matrix44 &m) const
	The inverse of a 4x4 matrix.
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 scalar_type &	operator() (std::size_t row, std::size_t col)
	Return a writable matrix element.
constexpr const scalar_type &	operator() (std::size_t row, std::size_t col) const
	Matrix access operator.
constexpr bool	operator== (const transform3 &rhs) const
	Equality operator.
template<concepts::point2D point2_type>
constexpr auto	point_to_global (const point2_type &p) const
	This method transform from a point from the local 2D cartesian frame to the global 3D cartesian frame.
template<concepts::point3D point3_type>
constexpr auto	point_to_global (const point3_type &p) const
	This method transform from a point from the local 3D cartesian frame to the global 3D cartesian frame.
template<concepts::point3D point3_type>
constexpr auto	point_to_local (const point3_type &p) const
	This method transform from a vector from the global 3D cartesian frame into the local 3D cartesian frame.
template<concepts::vector2D vector2_type>
constexpr auto	rotate (const matrix44 &m, const vector2_type &v) const
	Rotate a vector into / from a frame.
template<concepts::vector3D vector3_type>
constexpr auto	rotate (const matrix44 &m, const vector3_type &v) const
	Rotate a vector into / from a frame.
constexpr auto	rotation () const
	This method retrieves the rotation of a transform.
constexpr const auto &	translation () const
	This method retrieves the translation.
template<concepts::vector2D vector2_type>
constexpr auto	vector_to_global (const vector2_type &v) const
	This method transform from a vector from the local 2D cartesian frame to the global 3D cartesian frame.
template<concepts::vector3D vector3_type>
constexpr auto	vector_to_global (const vector3_type &v) const
	This method transform from a vector from the local 3D cartesian frame to the global 3D cartesian frame.
template<concepts::vector3D vector3_type>
constexpr auto	vector_to_local (const vector3_type &v) const
	This method transform from a vector from the global 3D cartesian frame into the local 3D cartesian frame.
constexpr const auto &	x () const
	This method retrieves the new x-axis.
constexpr const auto &	y () const
	This method retrieves the new y-axis.
constexpr const auto &	z () const
	This method retrieves the new z-axis.

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

Detailed Description

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>
struct detray::algebra::vc_aos::math::transform3< array_t, scalar_t >

Transform wrapper class to ensure standard API within different plugins.

Constructor & Destructor Documentation

◆ transform3() [1/7]

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::transform3	(	const vector3 &	t,
		const vector3 &	x,
		const vector3 &	y,
		const vector3 &	z )

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

◆ transform3() [2/7]

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::transform3	(	const vector3 &	t,
		const vector3 &	z,
		const vector3 &	x )

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

Note: y will be constructed by cross product

◆ transform3() [3/7]

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

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

explicit

Constructor with arguments: translation.

Parameters

t	is the transform

◆ transform3() [4/7]

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

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

explicit

Constructor with arguments: matrix.

Parameters

m	is the full 4x4 matrix with simd-vector elements

◆ transform3() [5/7]

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

detray::algebra::vc_aos::math::transform3< array_t, 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<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

detray::algebra::vc_aos::math::transform3< array_t, 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 16 array

◆ transform3() [7/7]

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::transform3 ( const transform3< array_t, scalar_t > & rhs )

default

Copy an existing transform.

Parameters

rhs	Transform whose matrices are copied.

Member Function Documentation

◆ determinant()

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

scalar_type detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::determinant ( const matrix44 & m ) const

constexpr

The determinant of a 4x4 matrix.

Parameters

m	is the matrix

Returns: a scalar determinant - no checking done

◆ invert()

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

matrix44 detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::invert ( const matrix44 & m ) const

constexpr

The inverse of a 4x4 matrix.

Parameters

m	is the matrix

Returns: an inverse matrix

◆ matrix()

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

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

constexpr

This method retrieves the 4x4 matrix of a transform.

Returns: forward transformation matrix

◆ matrix_inverse()

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

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

constexpr

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

Returns: inverse transformation matrix

◆ operator()() [1/2]

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

scalar_type & detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::operator()	(	std::size_t	row,
		std::size_t	col )

constexpr

Return a writable matrix element.

Parameters

row	zero-based row index
col	zero-based column index

Returns: mutable reference to the requested matrix position

◆ operator()() [2/2]

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

const scalar_type & detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::operator()	(	std::size_t	row,
		std::size_t	col ) const

constexpr

Matrix access operator.

Parameters

row	zero-based row index
col	zero-based column index

Returns: element at the requested matrix position

◆ operator==()

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

bool detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::operator== ( const transform3< array_t, 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<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

template<concepts::point2D point2_type>

auto detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::point_to_global ( const point2_type & p ) const

constexpr

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

Template Parameters

point2_type point in the local plane

Parameters

p	is the point to be transformed

Returns: a global point

◆ point_to_global() [2/2]

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

template<concepts::point3D point3_type>

auto detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::point_to_global ( const point3_type & p ) const

constexpr

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

Template Parameters

point3_type point in local coordinates

Parameters

p	is the point to be transformed

Returns: a global point

◆ point_to_local()

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

template<concepts::point3D point3_type>

auto detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::point_to_local ( const point3_type & p ) const

constexpr

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

Template Parameters

point3_type point in global coordinates

Parameters

p	is the point to be transformed

Returns: a local point

◆ rotate() [1/2]

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

template<concepts::vector2D vector2_type>

auto detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::rotate	(	const matrix44 &	m,
		const vector2_type &	v ) const

constexpr

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<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

template<concepts::vector3D vector3_type>

auto detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::rotate	(	const matrix44 &	m,
		const vector3_type &	v ) const

constexpr

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<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

auto detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::rotation ( ) const

constexpr

This method retrieves the rotation of a transform.

Returns: rotation matrix

◆ translation()

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

const auto & detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::translation ( ) const

constexpr

This method retrieves the translation.

Returns: translation vector

◆ vector_to_global() [1/2]

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

template<concepts::vector2D vector2_type>

auto detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::vector_to_global ( const vector2_type & v ) const

constexpr

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

Template Parameters

vector3_type 3D vector

Parameters

v	is the vector to be transformed

Returns: a vector in global coordinates

◆ vector_to_global() [2/2]

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

template<concepts::vector3D vector3_type>

auto detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::vector_to_global ( const vector3_type & v ) const

constexpr

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

Template Parameters

vector3_type 3D vector

Parameters

v	is the vector to be transformed

Returns: a vector in global coordinates

◆ vector_to_local()

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

template<concepts::vector3D vector3_type>

auto detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::vector_to_local ( const vector3_type & v ) const

constexpr

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

Template Parameters

vector3_type 3D vector

Parameters

v	is the vector to be transformed

Returns: a vector in local coordinates

◆ x()

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

const auto & detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::x ( ) const

constexpr

This method retrieves the new x-axis.

Returns: x-axis vector

◆ y()

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

const auto & detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::y ( ) const

constexpr

This method retrieves the new y-axis.

Returns: y-axis vector

◆ z()

template<template< typename, std::size_t > class array_t, concepts::scalar scalar_t>

const auto & detray::algebra::vc_aos::math::transform3< array_t, scalar_t >::z ( ) const

constexpr

This method retrieves the new z-axis.

Returns: z-axis vector

Public Types

Public Member Functions

Public Attributes

Detailed Description

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

◆ determinant()

◆ invert()

◆ matrix()

◆ matrix_inverse()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ 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()