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: chains the transformations from the specified nodes. More...

	LocalTransformation (std::vector< TGeoNode const * > const &path)
	Constructor: chains the transformations from all specified nodes. More...

template<typename ITER >
	LocalTransformation (ITER begin, ITER end)
	Constructor: sequence of transformations from a node path. 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<>
void	LocalToWorld (double const local, double world) const

template<>
void	LocalToWorldVect (double const local, double world) const

template<>
void	WorldToLocal (double const world, double local) const

template<>
void	WorldToLocalVect (const double world, double local) const

template<>
void	LocalToWorld (double const local, double world) const

template<>
void	LocalToWorldVect (double const local, double world) const

template<>
void	WorldToLocal (double const world, double local) const

template<>
void	WorldToLocalVect (const double world, double local) const


	LocalTransformation (TransformationMatrix_t const &matrix)
	Constructor: uses the specified local-to-world transformation. More...

	LocalTransformation (TransformationMatrix_t &&matrix)
	Constructor: uses the specified local-to-world transformation. 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...

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

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

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

template<>
DestPoint	LocalToWorldImpl (SrcPoint const &local) const

template<>
DestVector	LocalToWorldVectImpl (SrcVector const &local) 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 59 of file LocalTransformation.h.

Member Typedef Documentation

template<typename StoredMatrix>

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

Type of transformation matrix.

Definition at line 62 of file LocalTransformation.h.

Constructor & Destructor Documentation

template<typename StoredMatrix>

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

inline

Constructor: uses the specified local-to-world transformation.

Parameters

matrix the transformation matrix to be used

The transformation matrix is used to transform vectors from the "local" to the "world" frame, while its inverse is used for transformations from the "world" to the "local" frame.

The specified matrix is copied into a local copy unless a R-value reference argument is specified (e.g. with std::move()).

Definition at line 76 of file LocalTransformation.h.

76 : fGeoMatrix(matrix) {}

geo::LocalTransformation::fGeoMatrix

TransformationMatrix_t fGeoMatrix

local to world transform

Definition: LocalTransformation.h:301

template<typename StoredMatrix>

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

inline

Constructor: uses the specified local-to-world transformation.

Parameters

matrix the transformation matrix to be used

The transformation matrix is used to transform vectors from the "local" to the "world" frame, while its inverse is used for transformations from the "world" to the "local" frame.

The specified matrix is copied into a local copy unless a R-value reference argument is specified (e.g. with std::move()).

Definition at line 77 of file LocalTransformation.h.

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

geo::LocalTransformation::fGeoMatrix

TransformationMatrix_t fGeoMatrix

local to world transform

Definition: LocalTransformation.h:301

template<typename StoredMatrix>

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

inline

Constructor: chains the transformations from the specified nodes.

Parameters

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

The resulting transformation is the sequence of transformations from depth nodes from the first on.

Definition at line 88 of file LocalTransformation.h.

89 : fGeoMatrix(transformationFromPath<StoredMatrix>(path.begin(), path.begin() + depth + 1))

90 {}

geo::LocalTransformation::fGeoMatrix

TransformationMatrix_t fGeoMatrix

local to world transform

Definition: LocalTransformation.h:301

template<typename StoredMatrix>

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

inline

Constructor: chains the transformations from all specified nodes.

Parameters

path	the path of ROOT geometry nodes

The resulting transformation is the sequence of transformations from the first to the last node of the path.

Definition at line 99 of file LocalTransformation.h.

100 : LocalTransformation(path, path.size())

101 {}

geo::LocalTransformation::LocalTransformation

LocalTransformation(TransformationMatrix_t const &matrix)

Constructor: uses the specified local-to-world transformation.

Definition: LocalTransformation.h:76

template<typename StoredMatrix>

template<typename ITER >

geo::LocalTransformation< StoredMatrix >::LocalTransformation	(	ITER	begin,
		ITER	end
	)

inline

Constructor: sequence of transformations from a node path.

Template Parameters

ITER	type of iterator to node pointers

Parameters

begin	the begin iterator of the path of ROOT geometry nodes
end	the end iterator of the path of ROOT geometry nodes

The resulting transformation is the sequence of transformations from the one pointed by begin to the one before end.

Definition at line 113 of file LocalTransformation.h.

114 : fGeoMatrix(transformationFromPath<StoredMatrix>(begin, end))

115 {}

util::end

decltype(auto) constexpr end(T &&obj)

ADL-aware version of std::end.

Definition: StdUtils.h:77

geo::LocalTransformation::fGeoMatrix

TransformationMatrix_t fGeoMatrix

local to world transform

Definition: LocalTransformation.h:301

util::begin

decltype(auto) constexpr begin(T &&obj)

ADL-aware version of std::begin.

Definition: StdUtils.h:69

Member Function Documentation

template<>

void geo::LocalTransformation< ROOT::Math::Transform3D >::LocalToWorld	(	double const *	local,
		double *	world
	)		const

Definition at line 23 of file GeoVectorLocalTransformation.cxx.

References geo::vect::fillCoords().

 {
   details::checkVectorBufferOverlap(local, world);
 
   // need direct transformation
   auto const local_v = geo::vect::makeFromCoords<typename TransformationMatrix_t::Point>(local);
   auto const world_v = fGeoMatrix(local_v);
   geo::vect::fillCoords(world, world_v);
 
 } // geo::LocalTransformation::LocalToWorld()

template<>

void geo::LocalTransformation< ROOT::Math::Transform3D >::LocalToWorld	(	double const *	local,
		double *	world
	)		const

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::GeometryCore::DetectorEnclosureBox().

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 160 of file LocalTransformation.h.

     {
       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 165 of file LocalTransformation.h.

     {
       return LocalToWorldImpl<Point>(local);
     }

template<>

DestPoint geo::LocalTransformation< ROOT::Math::Transform3D >::LocalToWorldImpl ( SrcPoint const & local ) const

protected

template<typename StoredMatrix>

template<typename DestPoint , typename SrcPoint >

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

protected

template<>

void geo::LocalTransformation< ROOT::Math::Transform3D >::LocalToWorldVect	(	double const *	local,
		double *	world
	)		const

Definition at line 37 of file GeoVectorLocalTransformation.cxx.

References geo::vect::fillCoords().

 {
   details::checkVectorBufferOverlap(local, world);
 
   // need direct transformation
   auto const local_v = geo::vect::makeFromCoords<typename TransformationMatrix_t::Vector>(local);
   auto const world_v = fGeoMatrix(local_v);
   geo::vect::fillCoords(world, world_v);
 
 } // geo::LocalTransformation::LocalToWorldVect()

template<>

void geo::LocalTransformation< ROOT::Math::Transform3D >::LocalToWorldVect	(	double const *	local,
		double *	world
	)		const

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.

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 198 of file LocalTransformation.h.

     {
       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 203 of file LocalTransformation.h.

     {
       return LocalToWorldVectImpl<Vector>(local);
     }

template<>

DestVector geo::LocalTransformation< ROOT::Math::Transform3D >::LocalToWorldVectImpl ( SrcVector const & local ) const

protected

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 298 of file LocalTransformation.h.

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

298 { return fGeoMatrix; }

geo::LocalTransformation::fGeoMatrix

TransformationMatrix_t fGeoMatrix

local to world transform

Definition: LocalTransformation.h:301

template<>

void geo::LocalTransformation< ROOT::Math::Transform3D >::WorldToLocal	(	double const *	world,
		double *	local
	)		const

template<>

void geo::LocalTransformation< ROOT::Math::Transform3D >::WorldToLocal	(	double const *	world,
		double *	local
	)		const

Definition at line 51 of file GeoVectorLocalTransformation.cxx.

References geo::vect::fillCoords().

 {
   details::checkVectorBufferOverlap(local, world);
 
   // need inverse transformation
   auto const world_v = geo::vect::makeFromCoords<typename TransformationMatrix_t::Point>(world);
   auto const local_v = fGeoMatrix.ApplyInverse(world_v);
   geo::vect::fillCoords(local, local_v);
 
 } // geo::LocalTransformation::WorldToLocal()

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.

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 248 of file LocalTransformation.h.

     {
       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 253 of file LocalTransformation.h.

     {
       return WorldToLocalImpl<Point>(world);
     }

template<>

DestPoint geo::LocalTransformation< ROOT::Math::Transform3D >::WorldToLocalImpl ( SrcPoint const & world ) const

protected

template<typename StoredMatrix>

template<typename DestPoint , typename SrcPoint >

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

protected

template<>

void geo::LocalTransformation< ROOT::Math::Transform3D >::WorldToLocalVect	(	const double *	world,
		double *	local
	)		const

template<>

void geo::LocalTransformation< ROOT::Math::Transform3D >::WorldToLocalVect	(	const double *	world,
		double *	local
	)		const

Definition at line 65 of file GeoVectorLocalTransformation.cxx.

References geo::vect::fillCoords(), and scale.

 {
   details::checkVectorBufferOverlap(local, world);
 
   // need inverse transformation
   auto const world_v = geo::vect::makeFromCoords<typename TransformationMatrix_t::Vector>(world);
   auto const local_v = fGeoMatrix.ApplyInverse(world_v);
   geo::vect::fillCoords(local, local_v);
 
 } // geo::LocalTransformation::WorldToLocalVect()

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.

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 286 of file LocalTransformation.h.

     {
       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 291 of file LocalTransformation.h.

     {
       return WorldToLocalVectImpl<Vector>(world);
     }

template<>

DestVector geo::LocalTransformation< ROOT::Math::Transform3D >::WorldToLocalVectImpl ( SrcVector const & world ) const

protected

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 301 of file LocalTransformation.h.

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

larcorealg/v09_13_02/source/larcorealg/Geometry/LocalTransformation.h

Public Types

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 >