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File indexing completed on 2026-05-15 07:37:35
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 Fixed-size vector type for N-dimensional vectors 0070 /// @tparam kSize The dimension of the vector 0071 /// @deprecated Use Vector instead 0072 template <unsigned int kSize> 0073 using ActsVector [[deprecated("Use Vector instead")]] = Vector<kSize>; 0074 /// @brief Fixed-size matrix type for NxM matrices 0075 /// @tparam kRows Number of rows 0076 /// @tparam kCols Number of columns 0077 /// @deprecated Use Matrix instead 0078 template <unsigned int kRows, unsigned int kCols> 0079 using ActsMatrix [[deprecated("Use Matrix instead")]] = Matrix<kRows, kCols>; 0080 /// @brief Fixed-size square matrix type for NxN matrices 0081 /// @tparam kSize The dimension of the square matrix 0082 /// @deprecated Use SquareMatrix instead 0083 template <unsigned int kSize> 0084 using ActsSquareMatrix [[deprecated("Use SquareMatrix instead")]] = 0085 SquareMatrix<kSize>; 0086 /// @brief Dynamic-sized vector type 0087 /// @deprecated Use DynamicVector instead 0088 using ActsDynamicVector [[deprecated("Use DynamicVector instead")]] = 0089 DynamicVector; 0090 /// @brief Dynamic-sized matrix type 0091 /// @deprecated Use DynamicMatrix instead 0092 using ActsDynamicMatrix [[deprecated("Use DynamicMatrix instead")]] = 0093 DynamicMatrix; 0094 0095 /// @brief 2-dimensional vector type for 2D coordinates 0096 using Vector2 = Vector<2>; 0097 /// @brief 3-dimensional vector type for e.g. spatial coordinates and momenta 0098 using Vector3 = Vector<3>; 0099 /// @brief 4-dimensional vector type for space-time coordinates 0100 using Vector4 = Vector<4>; 0101 0102 /// @brief 2x2 square matrix type, typically used for 2D coordinate covariance 0103 using SquareMatrix2 = SquareMatrix<2>; 0104 /// @brief 3x3 square matrix type, typically used for 3D coordinate covariance 0105 using SquareMatrix3 = SquareMatrix<3>; 0106 /// @brief 4x4 square matrix type, typically used for 4D coordinate covariance 0107 using SquareMatrix4 = SquareMatrix<4>; 0108 0109 /// @brief 2D translation transformation 0110 using Translation2 = Eigen::Translation<double, 2>; 0111 /// @brief 3D translation transformation 0112 using Translation3 = Eigen::Translation<double, 3>; 0113 0114 /// @brief 2D rotation matrix 0115 using RotationMatrix2 = SquareMatrix2; 0116 /// @brief 3D rotation matrix 0117 using RotationMatrix3 = SquareMatrix3; 0118 0119 /// @brief Rotation defined by an angle around a rotation axis in 3D 0120 using AngleAxis3 = Eigen::AngleAxis<double>; 0121 0122 /// @brief 2D affine transformation stored as a compact 2x3 matrix 0123 using Transform2 = Eigen::Transform<double, 2, Eigen::AffineCompact>; 0124 /// @brief 3D affine transformation stored as a 4x4 matrix 0125 using Transform3 = Eigen::Transform<double, 3, Eigen::Affine>; 0126 0127 /// Tolerance for transform equivalence checks 0128 constexpr double s_transformEquivalentTolerance = 1e-9; 0129 0130 /// @} 0131 0132 } // namespace Acts
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