Class to transform between world and local coordinates. More...

#include "LocalTransformation.h"

Inheritance diagram for geo::LocalTransformation< StoredMatrix >:

Public Types
using	TransformationMatrix_t = StoredMatrix
	Type of transformation matrix. More...

Public Member Functions
	LocalTransformation (std::vector< TGeoNode const * > const &path, size_t depth)
	Constructor: uses the specified transformation matrix. More...

void	LocalToWorld (double const local, double world) const
	Transforms a point from local frame to world frame. More...

void	LocalToWorldVect (double const local, double world) const
	Transforms a vector from local frame to world frame. More...

void	WorldToLocal (double const world, double local) const
	Transforms a point from world frame to local frame. More...

void	WorldToLocalVect (const double world, double local) const
	Transforms a vector from world frame to local frame. More...

TransformationMatrix_t const &	Matrix () const
	Direct access to the transformation matrix. More...

template<>
TGeoHMatrix	transformationFromPath (std::vector< TGeoNode const * > const &path, size_t depth)

template<>
HepGeom::Transform3D	transformationFromPath (std::vector< TGeoNode const * > const &path, size_t depth)


	LocalTransformation (TransformationMatrix_t const &matrix)
	Constructor: uses the specified transformation matrix. More...

	LocalTransformation (TransformationMatrix_t &&matrix)
	Constructor: uses the specified transformation matrix. More...


template<typename DestPoint , typename SrcPoint , typename = std::enable_if_t<!std::is_same<SrcPoint, DestPoint>::value>>
DestPoint	LocalToWorld (SrcPoint const &local) const
	Transforms a point from local frame to world frame. More...

template<typename Point >
Point	LocalToWorld (Point const &local) const
	Transforms a point from local frame to world frame. More...


template<typename DestVector , typename SrcVector , typename = std::enable_if_t<!std::is_same<SrcVector, DestVector>::value>>
DestVector	LocalToWorldVect (SrcVector const &local) const
	Transforms a vector from local frame to world frame. More...

template<typename Vector >
Vector	LocalToWorldVect (Vector const &local) const
	Transforms a vector from local frame to world frame. More...


template<typename DestPoint , typename SrcPoint , typename = std::enable_if_t<!std::is_same<SrcPoint, DestPoint>::value>>
DestPoint	WorldToLocal (SrcPoint const &world) const
	Transforms a point from world frame to local frame. More...

template<typename Point >
Point	WorldToLocal (Point const &world) const
	Transforms a point from world frame to local frame. More...


template<typename DestVector , typename SrcVector , typename = std::enable_if_t<!std::is_same<SrcVector, DestVector>::value>>
DestVector	WorldToLocalVect (SrcVector const &world) const
	Transforms a vector from world frame to local frame. More...

template<typename Vector >
Vector	WorldToLocalVect (Vector const &world) const
	Transforms a vector from world frame to local frame. More...

Static Public Member Functions
static TransformationMatrix_t	transformationFromPath (std::vector< TGeoNode const * > const &path, size_t depth)
	Builds a matrix to go from local to world coordinates in one step. More...

Protected Member Functions
template<typename DestPoint , typename SrcPoint >
DestPoint	LocalToWorldImpl (SrcPoint const &local) const

template<typename DestVector , typename SrcVector >
DestVector	LocalToWorldVectImpl (SrcVector const &local) const

template<typename DestPoint , typename SrcPoint >
DestPoint	WorldToLocalImpl (SrcPoint const &world) const

template<typename DestVector , typename SrcVector >
DestVector	WorldToLocalVectImpl (SrcVector const &world) const

Protected Attributes
TransformationMatrix_t	fGeoMatrix
	local to world transform More...

Detailed Description

template<typename StoredMatrix>
class geo::LocalTransformation< StoredMatrix >

Class to transform between world and local coordinates.

Template Parameters

StoredMatrix type of transformation matrix internally stored

This class provides two directions of transformations (world to local and the other way around), for points and for vectors. The vector version of the transformation does not apply translation.

Note: In the class method examples, the following definition is assumed:
using LocalTransformation_t = geo::LocalTransformation<TGeoHMatrix>;

Definition at line 45 of file LocalTransformation.h.

Member Typedef Documentation

template<typename StoredMatrix>

using geo::LocalTransformation< StoredMatrix >::TransformationMatrix_t = StoredMatrix

Type of transformation matrix.

Definition at line 49 of file LocalTransformation.h.

Constructor & Destructor Documentation

template<typename StoredMatrix>

geo::LocalTransformation< StoredMatrix >::LocalTransformation ( TransformationMatrix_t const & matrix )

inline

Constructor: uses the specified transformation matrix.

Parameters

matrix the transformation matrix to be used

The specified matrix is copied into a local copy.

Definition at line 58 of file LocalTransformation.h.

59 : fGeoMatrix(matrix) {}

geo::LocalTransformation::fGeoMatrix

TransformationMatrix_t fGeoMatrix

local to world transform

Definition: LocalTransformation.h:257

template<typename StoredMatrix>

geo::LocalTransformation< StoredMatrix >::LocalTransformation ( TransformationMatrix_t && matrix )

inline

Constructor: uses the specified transformation matrix.

Parameters

matrix the transformation matrix to be used

The specified matrix is copied into a local copy.

Definition at line 60 of file LocalTransformation.h.

61 : fGeoMatrix(std::move(matrix)) {}

geo::LocalTransformation::fGeoMatrix

TransformationMatrix_t fGeoMatrix

local to world transform

Definition: LocalTransformation.h:257

template<typename StoredMatrix>

geo::LocalTransformation< StoredMatrix >::LocalTransformation	(	std::vector< TGeoNode const * > const &	path,
		size_t	depth
	)

inline

Constructor: uses the specified transformation matrix.

Parameters

path	the path of ROOT geometry nodes
depth	the index in the path of the last node to be considered

The specified matrix is copied into a local copy.

Definition at line 71 of file LocalTransformation.h.

72 : fGeoMatrix(transformationFromPath(path, depth)) {}

geo::LocalTransformation::transformationFromPath

static TransformationMatrix_t transformationFromPath(std::vector< TGeoNode const * > const &path, size_t depth)

Builds a matrix to go from local to world coordinates in one step.

geo::LocalTransformation::fGeoMatrix

TransformationMatrix_t fGeoMatrix

local to world transform

Definition: LocalTransformation.h:257

Member Function Documentation

template<typename StoredMatrix>

void geo::LocalTransformation< StoredMatrix >::LocalToWorld	(	double const *	local,
		double *	world
	)		const

Transforms a point from local frame to world frame.

Parameters

local	local coordinates: [0] x, [1] y, [2] z [cm]
world	(output) corresponding world coordinates [cm]

The full transformation is applied. Fox example:

LocalTransformation_t trans( ... ); // with proper initialisation
std::array<double, 3U> origin, center;
origin.fill(0.);
trans.LocalToWorld(origin.data(), center.data());

center will contain the world coordinates of the center of the volume, which is usually represented by the origin in the local coordinates.

In-place replacement is not supported: world and local buffers are assumed not to, and must not, overlap.

Referenced by geo::OpDetGeo::Length(), geo::AuxDetGeo::LocalToWorld(), geo::AuxDetSensitiveGeo::LocalToWorld(), geo::CryostatGeo::LocalToWorld(), geo::TPCGeo::LocalToWorld(), and geo::LocalTransformation< TGeoHMatrix >::LocalTransformation().

template<typename StoredMatrix>

template<typename DestPoint , typename SrcPoint , typename = std::enable_if_t<!std::is_same<SrcPoint, DestPoint>::value>>

DestPoint geo::LocalTransformation< StoredMatrix >::LocalToWorld ( SrcPoint const & local ) const

inline

Transforms a point from local frame to world frame.

Template Parameters

SrcPoint	type of the input (local) vector
DestPoint	type of the output (world) vector (default: as `Point`)

Parameters

local local coordinates [cm]

Returns: corresponding world coordinates [cm]

The full transformation is applied. Fox example:

LocalTransformation_t trans( ... ); // with proper initialisation
auto center = trans.LocalToWorld(TVector3());

center will be a TVector3 containing the world coordinates of the center of the volume, which is usually represented by the origin in the local coordinates (a TVector3 is by default constructed to point to the origin).

Definition at line 119 of file LocalTransformation.h.

120 { return LocalToWorldImpl<DestPoint>(local); }

template<typename StoredMatrix>

template<typename Point >

Point geo::LocalTransformation< StoredMatrix >::LocalToWorld ( Point const & local ) const

inline

Transforms a point from local frame to world frame.

Template Parameters

SrcPoint	type of the input (local) vector
DestPoint	type of the output (world) vector (default: as `Point`)

Parameters

local local coordinates [cm]

Returns: corresponding world coordinates [cm]

The full transformation is applied. Fox example:

LocalTransformation_t trans( ... ); // with proper initialisation
auto center = trans.LocalToWorld(TVector3());

center will be a TVector3 containing the world coordinates of the center of the volume, which is usually represented by the origin in the local coordinates (a TVector3 is by default constructed to point to the origin).

Definition at line 122 of file LocalTransformation.h.

123 { return LocalToWorldImpl<Point>(local); }

template<typename StoredMatrix>

template<typename DestPoint , typename SrcPoint >

DestPoint geo::LocalTransformation< StoredMatrix >::LocalToWorldImpl ( SrcPoint const & local ) const

protected

template<typename StoredMatrix>

void geo::LocalTransformation< StoredMatrix >::LocalToWorldVect	(	double const *	local,
		double *	world
	)		const

Transforms a vector from local frame to world frame.

Parameters

local	local coordinates: [0] x, [1] y, [2] z [cm]
world	(output) corresponding world coordinates [cm]

The translation is not applied, since the argument is supposed to be a vector, relative difference between two points.

In-place replacement is not supported: world and local buffers are assumed not to, and must not, overlap.

Referenced by geo::LocalTransformation< TGeoHMatrix >::LocalToWorld(), geo::OpDetGeo::LocalToWorldVect(), geo::AuxDetGeo::LocalToWorldVect(), geo::AuxDetSensitiveGeo::LocalToWorldVect(), geo::WireGeo::LocalToWorldVect(), geo::CryostatGeo::LocalToWorldVect(), and geo::TPCGeo::LocalToWorldVect().

template<typename StoredMatrix>

template<typename DestVector , typename SrcVector , typename = std::enable_if_t<!std::is_same<SrcVector, DestVector>::value>>

DestVector geo::LocalTransformation< StoredMatrix >::LocalToWorldVect ( SrcVector const & local ) const

inline

Transforms a vector from local frame to world frame.

Template Parameters

SrcVector	type of the input (local) vector
DestVector	type of output (world) vector (default: as `Vector`)

Parameters

local local coordinates [cm]

Returns: corresponding world coordinates [cm]

The translation is not applied, since the argument is supposed to be a vector, relative difference between two points.

Definition at line 154 of file LocalTransformation.h.

155 { return LocalToWorldVectImpl<DestVector>(local); }

template<typename StoredMatrix>

template<typename Vector >

Vector geo::LocalTransformation< StoredMatrix >::LocalToWorldVect ( Vector const & local ) const

inline

Transforms a vector from local frame to world frame.

Template Parameters

SrcVector	type of the input (local) vector
DestVector	type of output (world) vector (default: as `Vector`)

Parameters

local local coordinates [cm]

Returns: corresponding world coordinates [cm]

The translation is not applied, since the argument is supposed to be a vector, relative difference between two points.

Definition at line 157 of file LocalTransformation.h.

158 { return LocalToWorldVectImpl<Vector>(local); }

template<typename StoredMatrix>

template<typename DestVector , typename SrcVector >

DestVector geo::LocalTransformation< StoredMatrix >::LocalToWorldVectImpl ( SrcVector const & local ) const

protected

template<typename StoredMatrix>

TransformationMatrix_t const& geo::LocalTransformation< StoredMatrix >::Matrix ( ) const

inline

Direct access to the transformation matrix.

Definition at line 247 of file LocalTransformation.h.

Referenced by geo::AuxDetGeo::AuxDetGeo(), and geo::TPCGeo::TPCGeo().

247 { return fGeoMatrix; }

geo::LocalTransformation::fGeoMatrix

TransformationMatrix_t fGeoMatrix

local to world transform

Definition: LocalTransformation.h:257

template<>

TGeoHMatrix geo::LocalTransformation< TGeoHMatrix >::transformationFromPath	(	std::vector< TGeoNode const * > const &	path,
		size_t	depth
	)

Definition at line 30 of file LocalTransformation.cxx.

References geo::LocalTransformation< StoredMatrix >::transformationFromPath().

   {
     
     TGeoHMatrix matrix = *(path[0]->GetMatrix());
     for(size_t i = 1; i <= depth; ++i)
       matrix.Multiply(path[i]->GetMatrix());
     return matrix;
     
   } // geo::LocalTransformation::transformationFromPath()

template<>

HepGeom::Transform3D geo::LocalTransformation< HepGeom::Transform3D >::transformationFromPath	(	std::vector< TGeoNode const * > const &	path,
		size_t	depth
	)

Definition at line 45 of file LocalTransformation.cxx.

References mat, and geo::LocalTransformation< StoredMatrix >::transformationFromPath().

   {
     
     auto const mat =
       geo::LocalTransformation<TGeoHMatrix>::transformationFromPath
       (path, depth);
     const Double_t* translation = mat.GetTranslation();
     return HepGeom::Transform3D(
       CLHEP::HepRotation(CLHEP::HepRep3x3(mat.GetRotationMatrix())),
       CLHEP::Hep3Vector(translation[0], translation[1], translation[2])
       );
     
   } // geo::LocalTransformation::transformationFromPath()

template<typename StoredMatrix>

static TransformationMatrix_t geo::LocalTransformation< StoredMatrix >::transformationFromPath	(	std::vector< TGeoNode const * > const &	path,
		size_t	depth
	)

static

Builds a matrix to go from local to world coordinates in one step.

Referenced by geo::LocalTransformation< TGeoHMatrix >::Matrix(), and geo::LocalTransformation< StoredMatrix >::transformationFromPath().

template<typename StoredMatrix>

void geo::LocalTransformation< StoredMatrix >::WorldToLocal	(	double const *	world,
		double *	local
	)		const

Transforms a point from world frame to local frame.

Parameters

world	world coordinates: [0] x, [1] y, [2] z [cm]
local	(output) corresponding local coordinates [cm]

The full transformation is applied. Fox example:

LocalTransformation_t trans( ... ); // with proper initialisation
std::array<double, 3U> world{ 4.0, 5.0, -2.5 }, local;
trans.WorldToLocal(world.data(), local.data());

local will contain the local coordinates of the specified point.

In-place replacement is not supported: world and local buffers are assumed not to, and must not, overlap.

Referenced by geo::LocalTransformation< TGeoHMatrix >::LocalToWorldVect(), geo::OpDetGeo::WorldToLocal(), geo::AuxDetGeo::WorldToLocal(), geo::AuxDetSensitiveGeo::WorldToLocal(), geo::WireGeo::WorldToLocal(), geo::CryostatGeo::WorldToLocal(), and geo::TPCGeo::WorldToLocal().

template<typename StoredMatrix>

template<typename DestPoint , typename SrcPoint , typename = std::enable_if_t<!std::is_same<SrcPoint, DestPoint>::value>>

DestPoint geo::LocalTransformation< StoredMatrix >::WorldToLocal ( SrcPoint const & world ) const

inline

Transforms a point from world frame to local frame.

Template Parameters

SrcPoint	type of the input (local) vector
DestPoint	type of the output (world) vector (default: as `Point`)

Parameters

world world coordinates [cm]

Returns: corresponding local coordinates [cm]

The full transformation is applied. Fox example:

LocalTransformation_t trans( ... ); // with proper initialisation
auto local = trans.WorldToLocal(TVector3(4.0, 5.0, -2.5));

local will be a TVector3 containing the local coordinates of the specified point.

Definition at line 202 of file LocalTransformation.h.

203 { return WorldToLocalImpl<DestPoint>(world); }

template<typename StoredMatrix>

template<typename Point >

Point geo::LocalTransformation< StoredMatrix >::WorldToLocal ( Point const & world ) const

inline

Transforms a point from world frame to local frame.

Template Parameters

SrcPoint	type of the input (local) vector
DestPoint	type of the output (world) vector (default: as `Point`)

Parameters

world world coordinates [cm]

Returns: corresponding local coordinates [cm]

The full transformation is applied. Fox example:

LocalTransformation_t trans( ... ); // with proper initialisation
auto local = trans.WorldToLocal(TVector3(4.0, 5.0, -2.5));

local will be a TVector3 containing the local coordinates of the specified point.

Definition at line 205 of file LocalTransformation.h.

206 { return WorldToLocalImpl<Point>(world); }

template<typename StoredMatrix>

template<typename DestPoint , typename SrcPoint >

DestPoint geo::LocalTransformation< StoredMatrix >::WorldToLocalImpl ( SrcPoint const & world ) const

protected

template<typename StoredMatrix>

void geo::LocalTransformation< StoredMatrix >::WorldToLocalVect	(	const double *	world,
		double *	local
	)		const

Transforms a vector from world frame to local frame.

Parameters

world	world coordinates: [0] x, [1] y, [2] z [cm]
local	(output) corresponding local coordinates [cm]

The translation is not applied, since the argument is supposed to be a vector, relative difference between two points.

In-place replacement is not supported: world and local buffers are assumed not to, and must not, overlap.

Referenced by geo::LocalTransformation< TGeoHMatrix >::WorldToLocal(), geo::OpDetGeo::WorldToLocalVect(), geo::AuxDetGeo::WorldToLocalVect(), geo::AuxDetSensitiveGeo::WorldToLocalVect(), geo::WireGeo::WorldToLocalVect(), geo::CryostatGeo::WorldToLocalVect(), and geo::TPCGeo::WorldToLocalVect().

template<typename StoredMatrix>

template<typename DestVector , typename SrcVector , typename = std::enable_if_t<!std::is_same<SrcVector, DestVector>::value>>

DestVector geo::LocalTransformation< StoredMatrix >::WorldToLocalVect ( SrcVector const & world ) const

inline

Transforms a vector from world frame to local frame.

Template Parameters

SrcVector	type of the input (local) vector
DestVector	type of output (world) vector (default: as `Vector`)

Parameters

world coordinates [cm]

Returns: corresponding world coordinates [cm]

The translation is not applied, since the argument is supposed to be a vector, relative difference between two points.

Definition at line 238 of file LocalTransformation.h.

239 { return WorldToLocalVectImpl<DestVector>(world); }

template<typename StoredMatrix>

template<typename Vector >

Vector geo::LocalTransformation< StoredMatrix >::WorldToLocalVect ( Vector const & world ) const

inline

Transforms a vector from world frame to local frame.

Template Parameters

SrcVector	type of the input (local) vector
DestVector	type of output (world) vector (default: as `Vector`)

Parameters

world coordinates [cm]

Returns: corresponding world coordinates [cm]

The translation is not applied, since the argument is supposed to be a vector, relative difference between two points.

Definition at line 241 of file LocalTransformation.h.

242 { return WorldToLocalVectImpl<Vector>(world); }

template<typename StoredMatrix>

template<typename DestVector , typename SrcVector >

DestVector geo::LocalTransformation< StoredMatrix >::WorldToLocalVectImpl ( SrcVector const & world ) const

protected

Member Data Documentation

template<typename StoredMatrix>

TransformationMatrix_t geo::LocalTransformation< StoredMatrix >::fGeoMatrix

protected

local to world transform

Definition at line 257 of file LocalTransformation.h.

Referenced by geo::LocalTransformation< TGeoHMatrix >::Matrix().

The documentation for this class was generated from the following file:

larcorealg/v1_24_01/source/larcorealg/Geometry/LocalTransformation.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename StoredMatrix> class geo::LocalTransformation< StoredMatrix >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename StoredMatrix>
class geo::LocalTransformation< StoredMatrix >