Acts/Definitions/Algebra.hpp

0001 // This file is part of the ACTS project.
0002 //
0003 // Copyright (C) 2016 CERN for the benefit of the ACTS project
0004 //
0005 // This Source Code Form is subject to the terms of the Mozilla Public
0006 // License, v. 2.0. If a copy of the MPL was not distributed with this
0007 // file, You can obtain one at https://mozilla.org/MPL/2.0/.
0008
0009 #pragma once
0010
0011 // for GNU: ignore this specific warning, otherwise just include Eigen/Dense
0012 #if defined(__GNUC__) && !defined(__clang__) && !defined(__INTEL_COMPILER)
0013 #pragma GCC diagnostic push
0014 #pragma GCC diagnostic ignored "-Wmisleading-indentation"
0015 #if __GNUC__ >= 12
0016 #pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
0017 #endif
0018 #include <Eigen/Core>
0019 #include <Eigen/Geometry>
0020 #pragma GCC diagnostic pop
0021 #else
0022 #include <Eigen/Core>
0023 #include <Eigen/Geometry>
0024 #endif
0025
0026 namespace Acts {
0027
0028 /// @defgroup acts-algebra-types Vector/matrix types with a common scalar type
0029 ///
0030 /// These are the default vector/matrix types that should be used throughout the
0031 /// codebase. They all use the common Acts scalar type but support variable size
0032 /// either at compile- or runtime.
0033 ///
0034 /// Eigen does not have a distinct type for symmetric matrices. A typedef for
0035 /// fixed-size matrices is still defined to simplify definition (one template
0036 /// size vs two template size for generic matrices) and to clarify semantic
0037 /// meaning in interfaces. It also ensures that the matrix is square. However,
0038 /// the user is responsible for ensuring that the values are symmetric.
0039 ///
0040 /// Without a distinct type for symmetric matrices, there is no way to provide
0041 /// any conditions e.g. square size, for the dynamic-sized case. Consequently,
0042 /// no dynamic-sized symmetric matrix type is defined. Use the
0043 /// `ActsDynamicMatrix` instead.
0044
0045 template <unsigned int kSize>
0046 using ActsVector = Eigen::Matrix<double, kSize, 1>;
0047
0048 template <unsigned int kRows, unsigned int kCols>
0049 using ActsMatrix = Eigen::Matrix<double, kRows, kCols>;
0050
0051 template <unsigned int kSize>
0052 using ActsSquareMatrix = Eigen::Matrix<double, kSize, kSize>;
0053
0054 using ActsDynamicVector = Eigen::Matrix<double, Eigen::Dynamic, 1>;
0055
0056 using ActsDynamicMatrix = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>;
0057
0058 /// @defgroup coordinates-types Fixed-size vector/matrix types for coordinates
0059 ///
0060 /// These predefined types should always be used when handling coordinate
0061 /// vectors in different coordinate systems, i.e. on surfaces (2d), spatial
0062 /// position (3d), or space-time (4d).
0063 ///
0064
0065 // coordinate vectors
0066 using Vector2 = ActsVector<2>;
0067 using Vector3 = ActsVector<3>;
0068 using Vector4 = ActsVector<4>;
0069
0070 // square matrices e.g. for coordinate covariance matrices
0071 using SquareMatrix2 = ActsSquareMatrix<2>;
0072 using SquareMatrix3 = ActsSquareMatrix<3>;
0073 using SquareMatrix4 = ActsSquareMatrix<4>;
0074
0075 // pure translation transformations
0076 using Translation2 = Eigen::Translation<double, 2>;
0077 using Translation3 = Eigen::Translation<double, 3>;
0078
0079 // linear (rotation) matrices
0080 using RotationMatrix2 = SquareMatrix2;
0081 using RotationMatrix3 = SquareMatrix3;
0082
0083 // pure rotation defined by a rotation angle around a rotation axis
0084 using AngleAxis3 = Eigen::AngleAxis<double>;
0085
0086 // combined affine transformations. types are chosen for better data alignment:
0087 // - 2d affine compact stored as 2x3 matrix
0088 // - 3d affine stored as 4x4 matrix
0089 using Transform2 = Eigen::Transform<double, 2, Eigen::AffineCompact>;
0090 using Transform3 = Eigen::Transform<double, 3, Eigen::Affine>;
0091
0092 constexpr double s_transformEquivalentTolerance = 1e-9;
0093
0094 }  // namespace Acts