Rigid spatial transform between a parent frame and a local frame. More...

#include <CoordinateSystemTrafo.h>

Collaboration diagram for CoordinateSystemTrafo:

Public Member Functions
	CoordinateSystemTrafo ()
	Construct the identity transform.

	CoordinateSystemTrafo (const CoordinateSystemTrafo &right)

	CoordinateSystemTrafo (const ippl::Vector< double, 3 > &origin, const Quaternion &orientation)
	Construct a parent-to-local transform.

void	invert ()
	Invert the transform in place.

CoordinateSystemTrafo	inverted () const
	Return the inverse transform.

ippl::Vector< double, 3 >	transformTo (const ippl::Vector< double, 3 > &r) const
	Map a point from the parent frame to the local frame.

ippl::Vector< double, 3 >	transformFrom (const ippl::Vector< double, 3 > &r) const
	Map a point from the local frame back to the parent frame.

ippl::Vector< double, 3 >	rotateTo (const ippl::Vector< double, 3 > &r) const
	Rotate a vector from the parent frame into the local frame.

ippl::Vector< double, 3 >	rotateFrom (const ippl::Vector< double, 3 > &r) const
	Rotate a vector from the local frame back into the parent frame.

template<typename ViewType >
void	transformBunchTo (ViewType Rview, size_t nLocal) const
	Apply transformTo() to a Kokkos view of particle positions.

template<typename ViewType >
void	transformBunchFrom (ViewType Rview, size_t nLocal) const
	Apply transformFrom() to a Kokkos view of particle positions.

template<typename ViewType >
void	rotateBunchTo (ViewType Pview, size_t nLocal) const
	Apply rotateTo() to a Kokkos view of vectors such as momenta.

template<typename ViewType >
void	rotateBunchFrom (ViewType Pview, size_t nLocal) const
	Apply rotateFrom() to a Kokkos view of vectors such as momenta.

CoordinateSystemTrafo &	operator= (const CoordinateSystemTrafo &right)=default

CoordinateSystemTrafo	operator* (const CoordinateSystemTrafo &right) const
	Compose two transforms.

void	operator*= (const CoordinateSystemTrafo &right)

ippl::Vector< double, 3 >	getOrigin () const

Quaternion	getRotation () const

matrix3x3_t	getRotationMatrix () const

void	print (std::ostream &) const

Private Attributes
ippl::Vector< double, 3 >	origin_m
	Local origin expressed in the parent frame.

Quaternion	orientation_m
	Quaternion whose rotation maps parent-frame vectors into local-frame vectors.

matrix3x3_t	rotationMatrix_m
	Cached rotation matrix for the same parent-to-local mapping.

Detailed Description

Rigid spatial transform between a parent frame and a local frame.

OPALX uses this class as a rigid transform with translation and rotation. The stored origin \(\mathbf{o}\) is the location of the local origin expressed in the parent frame. The stored rotation \(R\) maps parent-frame vectors into local-frame vectors.

For a point \(\mathbf{r}\) in the parent frame, the local coordinates are computed as

\[ \mathbf{r}_{\mathrm{local}} = R \left(\mathbf{r}_{\mathrm{parent}} - \mathbf{o}\right). \]

The inverse mapping is

\[ \mathbf{r}_{\mathrm{parent}} = R^T \mathbf{r}_{\mathrm{local}} + \mathbf{o}. \]

The same convention is used for pure vector rotations without translation:

\[ \mathbf{v}_{\mathrm{local}} = R \mathbf{v}_{\mathrm{parent}}, \qquad \mathbf{v}_{\mathrm{parent}} = R^T \mathbf{v}_{\mathrm{local}}. \]

Composition follows function composition of transformTo():

\[ (A * B)(\mathbf{r}) = A(B(\mathbf{r})). \]

In other words, A * B applies B first and then A.

Definition at line 40 of file CoordinateSystemTrafo.h.

Constructor & Destructor Documentation

◆ CoordinateSystemTrafo() [1/3]

CoordinateSystemTrafo::CoordinateSystemTrafo ( )

Construct the identity transform.

Definition at line 3 of file CoordinateSystemTrafo.cpp.

References rotationMatrix_m.

◆ CoordinateSystemTrafo() [2/3]

CoordinateSystemTrafo::CoordinateSystemTrafo ( const CoordinateSystemTrafo & right )

Definition at line 18 of file CoordinateSystemTrafo.cpp.

◆ CoordinateSystemTrafo() [3/3]

CoordinateSystemTrafo::CoordinateSystemTrafo	(	const ippl::Vector< double, 3 > &	origin,
		const Quaternion &	orientation
	)

Construct a parent-to-local transform.

Parameters

origin	Position of the local origin in parent coordinates.
orientation	Unit quaternion whose rotation matrix maps parent-frame vectors into local-frame vectors.

Definition at line 23 of file CoordinateSystemTrafo.cpp.

Member Function Documentation

◆ getOrigin()

ippl::Vector< double, 3 > CoordinateSystemTrafo::getOrigin ( ) const

inline

Definition at line 169 of file CoordinateSystemTrafo.h.

References origin_m.

Referenced by ParallelTracker::markBackwardParticlesAtSourcePlane(), OpalBeamline::save3DInput(), OpalBeamline::save3DLattice(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), OpalRBend::update(), and OpalSBend::update().

◆ getRotation()

Quaternion CoordinateSystemTrafo::getRotation ( ) const

inline

Definition at line 171 of file CoordinateSystemTrafo.h.

References orientation_m.

Referenced by OpalBeamline::save3DInput(), TEST_F(), TEST_F(), OpalRBend::update(), and OpalSBend::update().

◆ getRotationMatrix()

matrix3x3_t CoordinateSystemTrafo::getRotationMatrix ( ) const

inline

Definition at line 173 of file CoordinateSystemTrafo.h.

References rotationMatrix_m.

Referenced by ParallelTracker::markBackwardParticlesAtSourcePlane().

◆ invert()

void CoordinateSystemTrafo::invert ( )

Invert the transform in place.

Definition at line 29 of file CoordinateSystemTrafo.cpp.

References Quaternion::conjugate(), get_transpose(), orientation_m, origin_m, Quaternion::rotate(), and rotationMatrix_m.

Referenced by inverted(), and TEST_F().

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◆ inverted()

CoordinateSystemTrafo CoordinateSystemTrafo::inverted ( ) const

inline

Return the inverse transform.

Definition at line 175 of file CoordinateSystemTrafo.h.

References invert().

Referenced by MeshGenerator::add(), ParticleContainer< T, Dim >::applyFractionalStep(), ParallelTracker::computeExternalFields(), ParallelTracker::computeSpaceChargeFields(), ParallelTracker::emitFromEmissionSources(), ParallelTracker::execute(), TEST_F(), TEST_F(), and ParticleContainer< T, Dim >::updateRefToLabCSTrafo().

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◆ operator*()

CoordinateSystemTrafo CoordinateSystemTrafo::operator* ( const CoordinateSystemTrafo & right ) const

Compose two transforms.

For a point \(\mathbf{r}\) in the parent frame,

\[ (A * B).transformTo(\mathbf{r}) = A.transformTo(B.transformTo(\mathbf{r})). \]

Definition at line 35 of file CoordinateSystemTrafo.cpp.

◆ operator*=()

void CoordinateSystemTrafo::operator*= ( const CoordinateSystemTrafo & right )

Definition at line 42 of file CoordinateSystemTrafo.cpp.

References Quaternion::conjugate(), Quaternion::getRotationMatrix(), Quaternion::normalize(), orientation_m, origin_m, Quaternion::rotate(), and rotationMatrix_m.

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◆ operator=()

CoordinateSystemTrafo & CoordinateSystemTrafo::operator= ( const CoordinateSystemTrafo & right )

default

◆ print()

void CoordinateSystemTrafo::print ( std::ostream & os ) const

inline

Definition at line 142 of file CoordinateSystemTrafo.h.

References Quaternion::conjugate(), orientation_m, origin_m, and Quaternion::rotate().

Referenced by operator<<(), and operator<<().

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◆ rotateBunchFrom()

template<typename ViewType >

void CoordinateSystemTrafo::rotateBunchFrom	(	ViewType	Pview,
		size_t	nLocal
	)		const

inline

Apply rotateFrom() to a Kokkos view of vectors such as momenta.

Definition at line 212 of file CoordinateSystemTrafo.h.

References prod_vector_transpose(), and rotationMatrix_m.

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◆ rotateBunchTo()

template<typename ViewType >

void CoordinateSystemTrafo::rotateBunchTo	(	ViewType	Pview,
		size_t	nLocal
	)		const

inline

Apply rotateTo() to a Kokkos view of vectors such as momenta.

Definition at line 204 of file CoordinateSystemTrafo.h.

References prod_vector(), and rotationMatrix_m.

Referenced by ParallelTracker::computeSpaceChargeFields(), and ParticleContainer< T, Dim >::transformBunch().

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◆ rotateFrom()

ippl::Vector< double, 3 > CoordinateSystemTrafo::rotateFrom ( const ippl::Vector< double, 3 > & r ) const

inline

Rotate a vector from the local frame back into the parent frame.

Definition at line 164 of file CoordinateSystemTrafo.h.

References prod_vector_transpose(), and rotationMatrix_m.

Referenced by ParticleContainer< T, Dim >::applyFractionalStep(), Monitor::applyToReferenceParticle(), OpalBeamline::rotateFrom(), OpalBeamline::rotateFromLocalCS(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), transformFrom(), ParallelTracker::updateReferenceParticles(), and ParticleContainer< T, Dim >::updateRefToLabCSTrafo().

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◆ rotateTo()

ippl::Vector< double, 3 > CoordinateSystemTrafo::rotateTo ( const ippl::Vector< double, 3 > & r ) const

inline

Rotate a vector from the parent frame into the local frame.

Definition at line 159 of file CoordinateSystemTrafo.h.

References prod_vector(), and rotationMatrix_m.

Referenced by MeshGenerator::add(), Monitor::driftToCorrectPositionAndSave(), ParallelTracker::execute(), OpalBeamline::rotateTo(), OpalBeamline::rotateToLocalCS(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), and ParallelTracker::updateReferenceParticles().

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◆ transformBunchFrom()

template<typename ViewType >

void CoordinateSystemTrafo::transformBunchFrom	(	ViewType	Rview,
		size_t	nLocal
	)		const

inline

Apply transformFrom() to a Kokkos view of particle positions.

Definition at line 194 of file CoordinateSystemTrafo.h.

References origin_m, prod_vector_transpose(), and rotationMatrix_m.

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◆ transformBunchTo()

template<typename ViewType >

void CoordinateSystemTrafo::transformBunchTo	(	ViewType	Rview,
		size_t	nLocal
	)		const

inline

Apply transformTo() to a Kokkos view of particle positions.

The operation is pointwise and uses the same rigid-transform convention as transformTo().

Definition at line 183 of file CoordinateSystemTrafo.h.

References origin_m, prod_vector(), and rotationMatrix_m.

Referenced by ParallelTracker::computeSpaceChargeFields(), and ParticleContainer< T, Dim >::transformBunch().

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◆ transformFrom()

ippl::Vector< double, 3 > CoordinateSystemTrafo::transformFrom ( const ippl::Vector< double, 3 > & r ) const

inline

Map a point from the local frame back to the parent frame.

Definition at line 154 of file CoordinateSystemTrafo.h.

References origin_m, and rotateFrom().

Referenced by ParticleContainer< T, Dim >::applyFractionalStep(), Monitor::applyToReferenceParticle(), ElementBase::getBoundingBoxInLabCoords(), OpalBeamline::save3DLattice(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), OpalBeamline::transformFrom(), OpalBeamline::transformFromLocalCS(), and ParticleContainer< T, Dim >::updateRefToLabCSTrafo().

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◆ transformTo()

ippl::Vector< double, 3 > CoordinateSystemTrafo::transformTo ( const ippl::Vector< double, 3 > & r ) const

inline

Map a point from the parent frame to the local frame.

Definition at line 148 of file CoordinateSystemTrafo.h.

References origin_m, prod_vector(), and rotationMatrix_m.

Referenced by MeshGenerator::add(), Monitor::driftToCorrectPositionAndSave(), ParallelTracker::execute(), OpalBeamline::getElements(), ElementBase::isInsideTransverse(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), OpalBeamline::transformTo(), OpalBeamline::transformToLocalCS(), and ParallelTracker::updateReferenceParticles().

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Member Data Documentation

◆ orientation_m

Quaternion CoordinateSystemTrafo::orientation_m

private

Quaternion whose rotation maps parent-frame vectors into local-frame vectors.

Definition at line 125 of file CoordinateSystemTrafo.h.

Referenced by getRotation(), invert(), operator*=(), and print().

◆ origin_m

ippl::Vector<double, 3> CoordinateSystemTrafo::origin_m

private

Local origin expressed in the parent frame.

Definition at line 122 of file CoordinateSystemTrafo.h.

Referenced by getOrigin(), invert(), operator*=(), print(), transformBunchFrom(), transformBunchTo(), transformFrom(), and transformTo().

◆ rotationMatrix_m

matrix3x3_t CoordinateSystemTrafo::rotationMatrix_m

private

Cached rotation matrix for the same parent-to-local mapping.

Definition at line 128 of file CoordinateSystemTrafo.h.

Referenced by CoordinateSystemTrafo(), getRotationMatrix(), invert(), operator*=(), rotateBunchFrom(), rotateBunchTo(), rotateFrom(), rotateTo(), transformBunchFrom(), transformBunchTo(), and transformTo().

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CoordinateSystemTrafo() [1/3]

◆ CoordinateSystemTrafo() [2/3]

◆ CoordinateSystemTrafo() [3/3]

Member Function Documentation

◆ getOrigin()

◆ getRotation()

◆ getRotationMatrix()

◆ invert()

◆ inverted()

◆ operator*()

◆ operator*=()

◆ operator=()

◆ print()

◆ rotateBunchFrom()

◆ rotateBunchTo()

◆ rotateFrom()

◆ rotateTo()

◆ transformBunchFrom()

◆ transformBunchTo()

◆ transformFrom()

◆ transformTo()

Member Data Documentation

◆ orientation_m

◆ origin_m

◆ rotationMatrix_m