Transform3D Class Reference

Collaboration diagram for Transform3D:

Public Types
enum	ERotationType { EULER , XAXIS , YAXIS , ZAXIS }

Public Member Functions
	Transform3D ()
	Transform3D (const Eigen::Matrix3d &matrix)
	~Transform3D ()
Transform3D *	clone () const
void	calculateEulerAngles (double *p_alpha, double *p_beta, double *p_gamma) const
double	calculateRotateXAngle () const
double	calculateRotateYAngle () const
double	calculateRotateZAngle () const
Transform3D	getInverse () const
template<class ivector_t >
ivector_t	transformed (const ivector_t &v) const
template<class ivector_t >
ivector_t	transformedInverse (const ivector_t &v) const
Transform3D	operator* (const Transform3D &other) const
bool	operator== (const Transform3D &other) const
ERotationType	getRotationType () const
bool	isIdentity () const
void	print (std::ostream &ostr) const
bool	isXRotation () const
bool	isYRotation () const
bool	isZRotation () const

Static Public Member Functions
static Transform3D	createIdentity ()
static Transform3D	createRotateX (double phi)
static Transform3D	createRotateY (double phi)
static Transform3D	createRotateZ (double phi)
static Transform3D	createRotateEuler (double alpha, double beta, double gamma)

Private Attributes
Eigen::Matrix3d	m_matrix
Eigen::Matrix3d	m_inverse_matrix

Friends
std::ostream &	operator<< (std::ostream &ostr, const Transform3D &m)

Detailed Description

Vector transformations in three dimensions.

Definition at line 27 of file Transform3D.h.

Member Enumeration Documentation

ERotationType

enum Transform3D::ERotationType

Enumerator
EULER
XAXIS
YAXIS
ZAXIS

Definition at line 30 of file Transform3D.h.

{ EULER, XAXIS, YAXIS, ZAXIS };

Constructor & Destructor Documentation

Transform3D() [1/2]

Transform3D::Transform3D

(

)

Constructs unit transformation.

Definition at line 18 of file Transform3D.cpp.

{
    m_matrix.setIdentity();
    m_inverse_matrix.setIdentity();
}

References m_inverse_matrix, and m_matrix.

Referenced by clone(), createIdentity(), createRotateX(), createRotateY(), createRotateZ(), and operator*().

Transform3D() [2/2]

Transform3D::Transform3D

(

const Eigen::Matrix3d &

matrix

)

Constructor from matrix (no checks if this is an element of SO(3)!)

Definition at line 24 of file Transform3D.cpp.

                                                    : m_matrix(matrix)
{
    m_inverse_matrix = m_matrix.inverse();
}

References m_inverse_matrix, and m_matrix.

~Transform3D()

Transform3D::~Transform3D ( )

inline

Destructor.

Definition at line 41 of file Transform3D.h.

{}

Member Function Documentation

clone()

Transform3D * Transform3D::clone

(

)

const

Clones the transformation.

Definition at line 140 of file Transform3D.cpp.

{
    return new Transform3D(m_matrix);
}

References m_matrix, and Transform3D().

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createIdentity()

Transform3D Transform3D::createIdentity ( )

static

Creates identity transformation (default)

Definition at line 29 of file Transform3D.cpp.

{
    return Transform3D();
}

References Transform3D().

Referenced by IdentityRotation::getTransform3D().

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createRotateX()

Transform3D Transform3D::createRotateX ( double  phi )

static

Creates rotation around x-axis.

Definition at line 34 of file Transform3D.cpp.

{
    double cosine = std::cos(phi);
    double sine = std::sin(phi);
    Eigen::Matrix3d matrix;
    matrix.setIdentity();
    matrix(1, 1) = cosine;
    matrix(1, 2) = -sine;
    matrix(2, 1) = sine;
    matrix(2, 2) = cosine;
    return Transform3D(matrix);
}

References Transform3D().

Referenced by createRotateEuler(), and RotationX::getTransform3D().

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createRotateY()

Transform3D Transform3D::createRotateY ( double  phi )

static

Creates rotation around y-axis.

Definition at line 47 of file Transform3D.cpp.

{
    double cosine = std::cos(phi);
    double sine = std::sin(phi);
    Eigen::Matrix3d matrix;
    matrix.setIdentity();
    matrix(0, 0) = cosine;
    matrix(0, 2) = sine;
    matrix(2, 0) = -sine;
    matrix(2, 2) = cosine;
    return Transform3D(matrix);
}

References Transform3D().

Referenced by RotationY::getTransform3D().

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createRotateZ()

Transform3D Transform3D::createRotateZ ( double  phi )

static

Creates rotation around z-axis.

Definition at line 60 of file Transform3D.cpp.

{
    double cosine = std::cos(phi);
    double sine = std::sin(phi);
    Eigen::Matrix3d matrix;
    matrix.setIdentity();
    matrix(0, 0) = cosine;
    matrix(0, 1) = -sine;
    matrix(1, 0) = sine;
    matrix(1, 1) = cosine;
    return Transform3D(matrix);
}

References Transform3D().

Referenced by createRotateEuler(), and RotationZ::getTransform3D().

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createRotateEuler()

Transform3D Transform3D::createRotateEuler ( double  alpha, double  beta, double  gamma  )

static

Creates rotation defined by Euler angles.

Definition at line 73 of file Transform3D.cpp.

{
    Transform3D zrot = createRotateZ(alpha);
    Transform3D xrot = createRotateX(beta);
    Transform3D zrot2 = createRotateZ(gamma);
    return zrot * xrot * zrot2;
}

References createRotateX(), and createRotateZ().

Referenced by RotationEuler::getTransform3D().

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calculateEulerAngles()

void Transform3D::calculateEulerAngles	(	double *	p_alpha,
		double *	p_beta,
		double *	p_gamma
	)		const

Calculates the Euler angles corresponding to the rotation.

Definition at line 81 of file Transform3D.cpp.

{
    *p_beta = std::acos(m_matrix(2, 2));
    // First check if second angle is zero or pi
    if (std::abs(m_matrix(2, 2)) == 1.0) {
        *p_alpha = std::atan2(m_matrix(1, 0), m_matrix(0, 0));
        *p_gamma = 0.0;
    } else {
        *p_alpha = std::atan2(m_matrix(0, 2), -m_matrix(1, 2));
        *p_gamma = std::atan2(m_matrix(2, 0), m_matrix(2, 1));
    }
}

References m_matrix.

Referenced by IRotation::createRotation(), isIdentity(), and SampleToPython::setRotationInformation().

calculateRotateXAngle()

double Transform3D::calculateRotateXAngle

(

)

const

Calculates the rotation angle for a rotation around the x-axis alone Only meaningfull if the actual rotation is around the x-axis.

Definition at line 94 of file Transform3D.cpp.

{
    return std::atan2(m_matrix(2, 1), m_matrix(1, 1));
}

References m_matrix.

Referenced by IRotation::createRotation(), and SampleToPython::setRotationInformation().

calculateRotateYAngle()

double Transform3D::calculateRotateYAngle

(

)

const

Calculates the rotation angle for a rotation around the y-axis alone Only meaningfull if the actual rotation is around the y-axis.

Definition at line 99 of file Transform3D.cpp.

{
    return std::atan2(m_matrix(0, 2), m_matrix(2, 2));
}

References m_matrix.

Referenced by IRotation::createRotation(), and SampleToPython::setRotationInformation().

calculateRotateZAngle()

double Transform3D::calculateRotateZAngle

(

)

const

Calculates the rotation angle for a rotation around the z-axis alone Only meaningfull if the actual rotation is around the z-axis.

Definition at line 104 of file Transform3D.cpp.

{
    return std::atan2(m_matrix(1, 0), m_matrix(0, 0));
}

References m_matrix.

Referenced by IRotation::createRotation(), and SampleToPython::setRotationInformation().

getInverse()

Transform3D Transform3D::getInverse

(

)

const

Returns the inverse transformation.

Definition at line 109 of file Transform3D.cpp.

{
    Transform3D result(m_inverse_matrix);
    return result;
}

References m_inverse_matrix.

Referenced by FormFactorDecoratorRotation::evaluate(), and FormFactorDecoratorRotation::evaluatePol().

transformed()

template<class ivector_t >

template cvector_t Transform3D::transformed< cvector_t >

(

const ivector_t &

v

)

const

Return transformed vector v.

Definition at line 115 of file Transform3D.cpp.

{
    auto x = m_matrix(0, 0) * v.x() + m_matrix(0, 1) * v.y() + m_matrix(0, 2) * v.z();
    auto y = m_matrix(1, 0) * v.x() + m_matrix(1, 1) * v.y() + m_matrix(1, 2) * v.z();
    auto z = m_matrix(2, 0) * v.x() + m_matrix(2, 1) * v.y() + m_matrix(2, 2) * v.z();
    return ivector_t(x, y, z);
}

References m_matrix, BasicVector3D< T >::x(), BasicVector3D< T >::y(), and BasicVector3D< T >::z().

Referenced by Lattice::createTransformedLattice(), MagneticMaterialImpl::rotatedMaterial(), IRotation::transformed(), and WavevectorInfo::transformed().

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transformedInverse()

template<class ivector_t >

template cvector_t Transform3D::transformedInverse< cvector_t >

(

const ivector_t &

v

)

const

Return transformed vector v.

Definition at line 126 of file Transform3D.cpp.

{
    auto x = m_inverse_matrix(0, 0) * v.x() + m_inverse_matrix(0, 1) * v.y()
             + m_inverse_matrix(0, 2) * v.z();
    auto y = m_inverse_matrix(1, 0) * v.x() + m_inverse_matrix(1, 1) * v.y()
             + m_inverse_matrix(1, 2) * v.z();
    auto z = m_inverse_matrix(2, 0) * v.x() + m_inverse_matrix(2, 1) * v.y()
             + m_inverse_matrix(2, 2) * v.z();
    return ivector_t(x, y, z);
}

References m_inverse_matrix, BasicVector3D< T >::x(), BasicVector3D< T >::y(), and BasicVector3D< T >::z().

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operator*()

Transform3D Transform3D::operator*

(

const Transform3D &

other

)

const

Composes two transformations.

Definition at line 145 of file Transform3D.cpp.

{
    Eigen::Matrix3d product_matrix = this->m_matrix * other.m_matrix;
    return Transform3D(product_matrix);
}

References m_matrix, and Transform3D().

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operator==()

bool Transform3D::operator==

(

const Transform3D &

other

)

const

Provides equality operator.

Definition at line 151 of file Transform3D.cpp.

{
    return this->m_matrix == other.m_matrix;
}

References m_matrix.

getRotationType()

Transform3D::ERotationType Transform3D::getRotationType

(

)

const

Retrieve the rotation type (general, around x, y or z-axis)

Definition at line 156 of file Transform3D.cpp.

{
    if (isXRotation())
        return XAXIS;
    if (isYRotation())
        return YAXIS;
    if (isZRotation())
        return ZAXIS;
    return EULER;
}

References EULER, isXRotation(), isYRotation(), isZRotation(), XAXIS, YAXIS, and ZAXIS.

Referenced by IRotation::createRotation(), and SampleToPython::setRotationInformation().

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isIdentity()

bool Transform3D::isIdentity

(

)

const

Determine if the transformation is trivial (identity)

Definition at line 167 of file Transform3D.cpp.

{
    double alpha, beta, gamma;
    calculateEulerAngles(&alpha, &beta, &gamma);
    return (alpha == 0.0 && beta == 0.0 && gamma == 0.0);
}

References calculateEulerAngles().

Referenced by IRotation::isIdentity().

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print()

void Transform3D::print

(

std::ostream &

ostr

)

const

Definition at line 174 of file Transform3D.cpp.

{
    ostr << "Transform3D: " << m_matrix;
}

References m_matrix.

isXRotation()

bool Transform3D::isXRotation

(

)

const

Definition at line 179 of file Transform3D.cpp.

{
    if (m_matrix(0, 0) != 1.0)
        return false;
    if (m_matrix(0, 1) != 0.0)
        return false;
    if (m_matrix(0, 2) != 0.0)
        return false;
    if (m_matrix(1, 0) != 0.0)
        return false;
    if (m_matrix(2, 0) != 0.0)
        return false;
    return true;
}

References m_matrix.

Referenced by getRotationType().

isYRotation()

bool Transform3D::isYRotation

(

)

const

Definition at line 194 of file Transform3D.cpp.

{
    if (m_matrix(1, 1) != 1.0)
        return false;
    if (m_matrix(0, 1) != 0.0)
        return false;
    if (m_matrix(1, 0) != 0.0)
        return false;
    if (m_matrix(1, 2) != 0.0)
        return false;
    if (m_matrix(2, 1) != 0.0)
        return false;
    return true;
}

References m_matrix.

Referenced by getRotationType().

isZRotation()

bool Transform3D::isZRotation

(

)

const

Definition at line 209 of file Transform3D.cpp.

{
    if (m_matrix(2, 2) != 1.0)
        return false;
    if (m_matrix(0, 2) != 0.0)
        return false;
    if (m_matrix(1, 2) != 0.0)
        return false;
    if (m_matrix(2, 0) != 0.0)
        return false;
    if (m_matrix(2, 1) != 0.0)
        return false;
    return true;
}

References m_matrix.

Referenced by getRotationType(), and IRotation::zInvariant().

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  ostr, const Transform3D &  m  )

friend

Definition at line 97 of file Transform3D.h.

    {
        m.print(ostr);
        return ostr;
    }

Member Data Documentation

m_matrix

Eigen::Matrix3d Transform3D::m_matrix

private

Definition at line 111 of file Transform3D.h.

Referenced by calculateEulerAngles(), calculateRotateXAngle(), calculateRotateYAngle(), calculateRotateZAngle(), clone(), isXRotation(), isYRotation(), isZRotation(), operator*(), operator==(), print(), Transform3D(), and transformed().

m_inverse_matrix

Eigen::Matrix3d Transform3D::m_inverse_matrix

private

Definition at line 112 of file Transform3D.h.

Referenced by getInverse(), Transform3D(), and transformedInverse().

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

• /home/www/ba/Base/Vector/Transform3D.h
• /home/www/ba/Base/Vector/Transform3D.cpp