CoordinateSystem.h

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#pragma once
 
#include <Eigen/Core>
#include <array>
#include <vector>
 
namespace ParameterLib
{
template <typename T>
struct Parameter;
class SpatialPosition;
}  // namespace ParameterLib
 
namespace ParameterLib
{
struct CoordinateSystem final
{
    explicit CoordinateSystem(Parameter<double> const& unit_direction);
 
    CoordinateSystem(Parameter<double> const& e0, Parameter<double> const& e1);
 
    CoordinateSystem(Parameter<double> const& e0,
                     Parameter<double> const& e1,
                     Parameter<double> const& e2);
 
    template <int Dimension>
    Eigen::Matrix<double, Dimension, Dimension> transformation(
        SpatialPosition const& pos) const;
 
    Eigen::Matrix<double, 3, 3> transformation_3d(
        SpatialPosition const& pos) const;
 
    template <int Dimension>
    Eigen::Matrix<double, Dimension, Dimension> rotateTensor(
        std::vector<double> const& values, SpatialPosition const& pos) const;
 
    template <int Dimension, typename Derived>
    Eigen::Matrix<double, Dimension, Dimension> rotateTensor(
        Eigen::MatrixBase<Derived> const& tensor,
        SpatialPosition const& pos) const;
 
    template <int Dimension>
    Eigen::Matrix<double, Dimension, Dimension> rotateDiagonalTensor(
        std::vector<double> const& values, SpatialPosition const& pos) const;
 
private:
    std::array<Parameter<double> const*, 3> _base;
    bool _has_implicit_base;
 
    Eigen::Matrix<double, 3, 3> transformationFromSingleBase_3d(
        SpatialPosition const& pos) const;
};
 
template <int Dimension, typename Derived>
Eigen::Matrix<double, Dimension, Dimension> CoordinateSystem::rotateTensor(
    Eigen::MatrixBase<Derived> const& tensor, SpatialPosition const& pos) const
{
    auto const R = transformation<Dimension>(pos);
    return R * tensor * R.transpose();
}
 
extern template Eigen::Matrix<double, 2, 2> CoordinateSystem::rotateTensor<2>(
    std::vector<double> const& values, SpatialPosition const& pos) const;
extern template Eigen::Matrix<double, 3, 3> CoordinateSystem::rotateTensor<3>(
    std::vector<double> const& values, SpatialPosition const& pos) const;
extern template Eigen::Matrix<double, 2, 2>
CoordinateSystem::rotateDiagonalTensor<2>(std::vector<double> const& values,
                                          SpatialPosition const& pos) const;
extern template Eigen::Matrix<double, 3, 3>
CoordinateSystem::rotateDiagonalTensor<3>(std::vector<double> const& values,
                                          SpatialPosition const& pos) const;
}  // namespace ParameterLib