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File indexing completed on 2026-07-14 07:49:22
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 algebra_types Algebra types 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 /// @ref Acts::DynamicMatrix instead. 0044 /// 0045 /// @{ 0046 0047 /// @brief Fixed-size vector type for N-dimensional vectors 0048 /// @tparam kSize The dimension of the vector 0049 template <unsigned int kSize> 0050 using Vector = Eigen::Matrix<double, kSize, 1>; 0051 0052 /// @brief Fixed-size matrix type for NxM matrices 0053 /// @tparam kRows Number of rows 0054 /// @tparam kCols Number of columns 0055 template <unsigned int kRows, unsigned int kCols> 0056 using Matrix = Eigen::Matrix<double, kRows, kCols>; 0057 0058 /// @brief Fixed-size square matrix type for NxN matrices 0059 /// @tparam kSize The dimension of the square matrix 0060 template <unsigned int kSize> 0061 using SquareMatrix = Eigen::Matrix<double, kSize, kSize>; 0062 0063 /// @brief Dynamic-sized vector type 0064 using DynamicVector = Eigen::Matrix<double, Eigen::Dynamic, 1>; 0065 0066 /// @brief Dynamic-sized matrix type 0067 using DynamicMatrix = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>; 0068 0069 /// @brief 2-dimensional vector type for 2D coordinates 0070 using Vector2 = Vector<2>; 0071 /// @brief 3-dimensional vector type for e.g. spatial coordinates and momenta 0072 using Vector3 = Vector<3>; 0073 /// @brief 4-dimensional vector type for space-time coordinates 0074 using Vector4 = Vector<4>; 0075 0076 /// @brief 2x2 square matrix type, typically used for 2D coordinate covariance 0077 using SquareMatrix2 = SquareMatrix<2>; 0078 /// @brief 3x3 square matrix type, typically used for 3D coordinate covariance 0079 using SquareMatrix3 = SquareMatrix<3>; 0080 /// @brief 4x4 square matrix type, typically used for 4D coordinate covariance 0081 using SquareMatrix4 = SquareMatrix<4>; 0082 0083 /// @brief 2D translation transformation 0084 using Translation2 = Eigen::Translation<double, 2>; 0085 /// @brief 3D translation transformation 0086 using Translation3 = Eigen::Translation<double, 3>; 0087 0088 /// @brief 2D rotation matrix 0089 using RotationMatrix2 = SquareMatrix2; 0090 /// @brief 3D rotation matrix 0091 using RotationMatrix3 = SquareMatrix3; 0092 0093 /// @brief Rotation defined by an angle around a rotation axis in 3D 0094 using AngleAxis3 = Eigen::AngleAxis<double>; 0095 0096 /// @brief 2D affine transformation stored as a compact 2x3 matrix 0097 using Transform2 = Eigen::Transform<double, 2, Eigen::AffineCompact>; 0098 /// @brief 3D affine transformation stored as a 4x4 matrix 0099 using Transform3 = Eigen::Transform<double, 3, Eigen::Affine>; 0100 0101 /// Tolerance for transform equivalence checks 0102 constexpr double s_transformEquivalentTolerance = 1e-9; 0103 0104 /// @} 0105 0106 } // namespace Acts
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