From 6a09cc4e8be440f5f25ebfb56970f5ffd02de79c Mon Sep 17 00:00:00 2001
From: Maximilian Reininghaus <maximilian.reininghaus@kit.edu>
Date: Tue, 31 Jul 2018 18:20:03 +0200
Subject: [PATCH] first implementation of geometry
---
Framework/Geometry/BaseVector.h | 21 ++++++++
Framework/Geometry/CoordinateSystem.cc | 54 ++++++++++++++++++++
Framework/Geometry/CoordinateSystem.h | 71 ++++++++++++++++++++++++++
Framework/Geometry/Point.h | 48 +++++++++++++++++
Framework/Geometry/QuantityVector.h | 42 +++++++++++++++
Framework/Geometry/Vector.h | 61 ++++++++++++++++++++++
Framework/Units/Units.h | 1 -
7 files changed, 297 insertions(+), 1 deletion(-)
create mode 100644 Framework/Geometry/BaseVector.h
create mode 100644 Framework/Geometry/CoordinateSystem.cc
create mode 100644 Framework/Geometry/CoordinateSystem.h
create mode 100644 Framework/Geometry/Point.h
create mode 100644 Framework/Geometry/QuantityVector.h
create mode 100644 Framework/Geometry/Vector.h
delete mode 100644 Framework/Units/Units.h
diff --git a/Framework/Geometry/BaseVector.h b/Framework/Geometry/BaseVector.h
new file mode 100644
index 000000000..d0086c436
--- /dev/null
+++ b/Framework/Geometry/BaseVector.h
@@ -0,0 +1,21 @@
+#ifndef BASEVECTOR_H_
+#define BASEVECTOR_H_
+
+#include "QuantityVector.h"
+#include "CoordinateSystem.h"
+
+template <typename dim>
+class BaseVector
+{
+protected:
+ QuantityVector<dim> qVector;
+ CoordinateSystem const* cs;
+
+public:
+ BaseVector(CoordinateSystem const& pCS, QuantityVector<dim> pQVector) :
+ qVector(pQVector), cs(&pCS)
+ {
+ }
+};
+
+#endif
diff --git a/Framework/Geometry/CoordinateSystem.cc b/Framework/Geometry/CoordinateSystem.cc
new file mode 100644
index 000000000..81a195ce4
--- /dev/null
+++ b/Framework/Geometry/CoordinateSystem.cc
@@ -0,0 +1,54 @@
+#include "CoordinateSystem.h"
+
+EigenTransform CoordinateSystem::getTransformation(CoordinateSystem const& c1, CoordinateSystem const& c2)
+{
+ CoordinateSystem const* a{&c1};
+ CoordinateSystem const* b{&c2};
+ CoordinateSystem const* commonBase{nullptr};
+
+ while (a != b && b != nullptr)
+ {
+ a = &c1;
+
+ while (a != b && a != nullptr)
+ {
+ a = a->getReference();
+ }
+
+ if (a == b)
+ break;
+
+ b = b->getReference();
+ }
+
+ if (a == b && a != nullptr)
+ {
+ commonBase = a;
+
+ }
+ else
+ {
+ throw std::string("no connection between coordinate systems found!");
+ }
+
+
+ EigenTransform t = EigenTransform::Identity();
+
+ auto* p = &c1;
+
+ while (p != commonBase)
+ {
+ t = p->getTransform() * t;
+ p = p->getReference();
+ }
+
+ p = &c2;
+
+ while (p != commonBase)
+ {
+ t = p->getTransform().inverse(Eigen::TransformTraits::Isometry) * t;
+ p = p->getReference();
+ }
+
+ return t;
+}
diff --git a/Framework/Geometry/CoordinateSystem.h b/Framework/Geometry/CoordinateSystem.h
new file mode 100644
index 000000000..ab525b27a
--- /dev/null
+++ b/Framework/Geometry/CoordinateSystem.h
@@ -0,0 +1,71 @@
+#ifndef COORDINATESYSTEM_H_
+#define COORDINATESYSTEM_H_
+
+#include "QuantityVector.h"
+#include <Eigen/Dense>
+#include <phys/units/quantity.hpp>
+
+typedef Eigen::Transform<double, 3, Eigen::Affine> EigenTransform;
+typedef Eigen::Translation<double, 3> EigenTranslation;
+
+class CoordinateSystem
+{
+ CoordinateSystem const* reference = nullptr;
+ EigenTransform transf;
+
+ CoordinateSystem(CoordinateSystem const& reference, EigenTransform const& transf) :
+ reference(&reference),
+ transf(transf)
+ {
+
+ }
+
+public:
+ static EigenTransform getTransformation(CoordinateSystem const& c1, CoordinateSystem const& c2);
+
+ CoordinateSystem() : // for creating the root CS
+ transf(EigenTransform::Identity())
+ {
+
+ }
+
+ auto& operator=(const CoordinateSystem& pCS)
+ {
+ reference = pCS.reference;
+ transf = pCS.transf;
+ return *this;
+ }
+
+ auto translate(QuantityVector<phys::units::length_d> vector) const
+ {
+ EigenTransform const translation{EigenTranslation(vector.eVector)};
+
+ return CoordinateSystem(*this, translation);
+ }
+
+ auto rotate(QuantityVector<phys::units::length_d> axis, double angle) const
+ {
+ EigenTransform const rotation{Eigen::AngleAxisd(M_PI / 6, axis.eVector.normalized())};
+
+ return CoordinateSystem(*this, rotation);
+ }
+
+ auto translateAndRotate(QuantityVector<phys::units::length_d> translation, QuantityVector<phys::units::length_d> axis, double angle)
+ {
+ EigenTransform const transf{Eigen::AngleAxisd(M_PI / 6, axis.eVector.normalized()) * EigenTranslation(translation.eVector)};
+
+ return CoordinateSystem(*this, transf);
+ }
+
+ auto const* getReference() const
+ {
+ return reference;
+ }
+
+ auto const& getTransform() const
+ {
+ return transf;
+ }
+};
+
+#endif
diff --git a/Framework/Geometry/Point.h b/Framework/Geometry/Point.h
new file mode 100644
index 000000000..633279e4c
--- /dev/null
+++ b/Framework/Geometry/Point.h
@@ -0,0 +1,48 @@
+#ifndef POINT_H_
+#define POINT_H_
+
+#include "BaseVector.h"
+#include "QuantityVector.h"
+#include <phys/units/quantity.hpp>
+
+class Point : public BaseVector<phys::units::length_d>
+{
+ using Length = phys::units::quantity<phys::units::length_d, double>;
+
+
+public:
+ Point(CoordinateSystem const& pCS, QuantityVector<phys::units::length_d> pQVector) :
+ BaseVector<phys::units::length_d>(pCS, pQVector)
+ {
+ }
+
+ Point(CoordinateSystem const& cs, Length x, Length y, Length z) :
+ BaseVector<phys::units::length_d>(cs, {x, y, z})
+ {
+ }
+
+ auto getCoordinates() const
+ {
+ return BaseVector<phys::units::length_d>::qVector;
+ }
+
+ auto getCoordinates(CoordinateSystem const& pCS) const
+ {
+ if (&pCS == BaseVector<phys::units::length_d>::cs)
+ {
+ return BaseVector<phys::units::length_d>::qVector;
+ }
+ else
+ {
+ return QuantityVector<phys::units::length_d>(CoordinateSystem::getTransformation(*BaseVector<phys::units::length_d>::cs, pCS) * BaseVector<phys::units::length_d>::qVector.eVector);
+ }
+ }
+
+ void rebase(CoordinateSystem const& pCS)
+ {
+ BaseVector<phys::units::length_d>::qVector = getCoordinates(pCS);
+ BaseVector<phys::units::length_d>::cs = &pCS;
+ }
+};
+
+#endif
diff --git a/Framework/Geometry/QuantityVector.h b/Framework/Geometry/QuantityVector.h
new file mode 100644
index 000000000..647303791
--- /dev/null
+++ b/Framework/Geometry/QuantityVector.h
@@ -0,0 +1,42 @@
+#ifndef QUANTITYVECTOR_H_
+#define QUANTITYVECTOR_H_
+
+#include <phys/units/quantity.hpp>
+#include <phys/units/io.hpp>
+#include <Eigen/Dense>
+#include <iostream>
+
+template <typename dim>
+class QuantityVector
+{
+protected:
+ using Quantity = phys::units::quantity<dim, double>;
+
+public:
+ Eigen::Vector3d eVector;
+
+ QuantityVector(Quantity a, Quantity b, Quantity c) :
+ eVector{a.magnitude(), b.magnitude(), c.magnitude()}
+ {
+ }
+
+ QuantityVector(Eigen::Vector3d pBareVector) :
+ eVector(pBareVector)
+ {
+ }
+
+ Quantity operator[](size_t index) const
+ {
+ return Quantity(phys::units::detail::magnitude_tag, eVector[index]);
+ }
+};
+
+template <typename dim>
+auto& operator<<(std::ostream& os, QuantityVector<dim> qv)
+{
+ os << '(' << qv.eVector(0) << ' ' << qv.eVector(1) << ' ' << qv.eVector(2)
+ << ") " << phys::units::to_unit_symbol(phys::units::quantity<dim, double>());
+ return os;
+}
+
+#endif
diff --git a/Framework/Geometry/Vector.h b/Framework/Geometry/Vector.h
new file mode 100644
index 000000000..bf8ab9d40
--- /dev/null
+++ b/Framework/Geometry/Vector.h
@@ -0,0 +1,61 @@
+#ifndef VECTOR_H_
+#define VECTOR_H_
+
+#include "BaseVector.h"
+#include "QuantityVector.h"
+#include <phys/units/quantity.hpp>
+
+template <typename dim>
+class Vector : public BaseVector<dim>
+{
+ using Quantity = phys::units::quantity<dim, double>;
+
+ Vector(CoordinateSystem const& pCS, QuantityVector<dim> pQVector) :
+ BaseVector<Quantity>(pCS, pQVector)
+ {
+ }
+
+
+public:
+ Vector(CoordinateSystem const& cs, Quantity x, Quantity y, Quantity z) :
+ BaseVector<dim>(cs, QuantityVector<dim>(x, y, z))
+ {
+ }
+
+ auto getComponents() const
+ {
+ return BaseVector<dim>::qVector;
+ }
+
+ auto getComponents(CoordinateSystem const& pCS) const
+ {
+ if (&pCS == BaseVector<dim>::cs)
+ {
+ return BaseVector<dim>::qVector;
+ }
+ else
+ {
+ return QuantityVector<dim>(CoordinateSystem::getTransformation(*BaseVector<dim>::cs, pCS).linear() * BaseVector<dim>::qVector.eVector);
+ }
+ }
+
+ void rebase(CoordinateSystem const& pCS)
+ {
+ BaseVector<dim>::qVector = getComponents(pCS);
+ BaseVector<dim>::cs = &pCS;
+ }
+
+ auto norm() const
+ {
+ return Quantity(BaseVector<dim>::qVector.eVector.norm());
+ }
+
+ //~ template <typename dim2>
+ //~ auto operator*(Vector<dim2> const& pVec)
+ //~ {
+ //~ auto constexpr resulting_dim = dimension
+ //~ return Vector<
+ //~ }
+};
+
+#endif
diff --git a/Framework/Units/Units.h b/Framework/Units/Units.h
deleted file mode 100644
index 8b1378917..000000000
--- a/Framework/Units/Units.h
+++ /dev/null
@@ -1 +0,0 @@
-
--
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