KlasMvW / typesafe_coordinate_systems

TS (Typesafe coordinate Systems) is a C++ header only library that allows the user to define a tree-like hierarchy of coordinate systems. The library provides faciliteis for traversing the tree compile time and obtain entities that connects the nodes e.g. the transformation matrix that connects two systems in a typesafe manner.

Type-safe coordinate systems

Brief description

TS is header-only C++ library that allows the user to perform type-safe coordinate transformations within a hierarchy of systems.

                A
              /  \
             B1  B2
           /  \   \
         C1   C2   C3

The only restriction on the hierarchy of systems is that each system can have only one parent system. Multiple child systems is however allowed. Each system (A, B1, B2 ...) is a user defined type and each transformation between two related systems is a user defined functions. Given this, the user can derive any transformation connecting two systems. In TS The transformation connecting B2 and C2 would be obtained by

M<float, ts::B2, ts::C2> m = ts::relate_systems<ts::B2, ts::C2, M>(g1, g2....);

where

• B2 and C2 are user defined structs representing systems.
• M is a user defined type that is templated with the systems that is connected. Typically this is a class representing a matrix.
• g1, g2 ... Are an arbitrary number of object instances of user defined types that can be used to transport information, like parameterization of the current geometry state, to the to_parent, to_child functions.
• float is the underlying data type of the M. Since M is user defined this parameter can be chosen freely..

In the example above only the functions performing the transformations B2 to A, A to B1 and B1 to C2 need to be defined. TS will traverse the tree and deduce the sequence of transformation B2 to C2 compile time.

Simple example

TS uses an inheritance pattern to represent parent-child relation between two coordinate systems. The following construction in TS defines three systems, A, B and C, where A is the parent of B and C.

namespace ts
{
  //    A
  //  /  \
  // B    C
  //
  struct A : TypesafeSystem<A, Root>{};
  struct B : TypesafeSystem<B, A>{};
  struct C : TypesafeSystem<C, A>{};
}

Here TypesafeSystem and Root are structs in the TS library in the namespace ts. The system in the top of the hierarchy (in this case system A) must have the parent Root. Note that the construct uses CRTP (Curiously Re-occurring Template Pattern) so that every system is inheriting from TypesafeSystem templated by the system itself.

Further, to use TS the user must define a matrix class templated by the system a matrix transforms from to the system it transforms to e.g.

template <typename T, typename From, typename To>
class Matrix {
  // Enter implementation of matrix calss here.
}

where From and To inherits from ts::TypesafeSystem like A and B in our example. T is the underlying data type (like float). Note that the class does not need to be called Matrix but can have any name as long as the template signature is as described.

The functions defining the transformations from A to B and vice versa must have the following signatures

namespace Transform
{
template <typename T, typename From>
Matrix<T, From, A> to_parent(const Matrix<T, From, B>& in, const G1& g1, const G2& g2, ...);

template <typename T, typename From>
void to_child(const Matrix<T, From, A>& from, Matrix<T, From, B>& to, const G1& g1, const G2& g2, ...);
}

With the above definitions the matrix connecting two arbitrary systems in an hierarchy can be obtained by

Matrix<float, ts::A, ts::B> m = ts::relate_systems<ts::A, ts::B, Matrix>(g1, g2, ...);

Note that the arguments g1, g2, ... must match the signature of the to_parent and to_child functions.

Details

The to_parent to_child functions

An example of to_parent and to_child functions are shown below.

template <typename T, typename From>
Matrix<T, From, A> to_parent(const Matrix<T, From, B>& from_to_B, const G1& g1, const G2& g2) {
  // Perform transformation concatenation of transforms here.

  // Construct the transformation Matrix that connects A and B.
  // The transformation is be parametrized by g1, g2
  // Here f is a function that returns the desired matrix.
  // The matrix could also be defined directly.
  const Matrix<T, B, A> B_to_A = f(g1, g2);
  
  // The Matrix class would typically have a multiplication operation defined that can guarantee type safety.
  Matrix<T, From, A> from_to_A = B_to_A * from_to_B;
  
  return from_to_A;
};

template <typename T, typename From>
void to_child(const Matrix<T, From, A>& from_to_A, Matrix<T, From, B>& from_to_B, const G1& g1, const G2& g2) {
  // Perform transformation concatenation of transforms here.

  // Construct the transformation Matrix that connects A and B.
  // The transformation is be parametrized by g1, g2
  // Here h is a function that returns the desired matrix. 
  // The matrix could also be defined directly.
  const Matrix<T, A, B> A_to_B = h(g1, g2);
  
  // The Matrix class would typically have a multiplication operation defined that can guarantee type safety.
  Matrix<T, From, B> from_to_B = A_to_B * from_to_A;
  
  return from_to_B
};

Inclusion of TS headers

Source code using TS must include headers and function definitions in the following order

#include "ts/typesafe_system.h"

namespace ts::transform {
template <typename T, typename From>
Matrix<T, From, A> to_parent(const Matrix<T, From, B>& in, const G1& g1, const G2& g2) {};

template <typename T, typename From>
void to_child(const Matrix<T, From, A>& from, Matrix<T, From, B>& to, const G1& g1, const G2& g2) {};
}

#include "ts/typesafe_coordinate_systems.h"

This is normally achieved by putting the inclusion of "ts/typesafe_system.h" and the to_parent and to_child functions is a separate header that in turn is included before #include "ts/typesafe_coordinate_systems.h"where needed.

Requirements on the Matrix class

If a matrix object is constructed through

Matrix<float, From, From> m;

i.e the connected systems are identical, the object must have the desired identity property.

Compilers

Currently the tests of TS will not pass using MSVC with the C++17 compilation flag. It will however pass using the C++20 flag. TS is officially tested with GCC, MSVC for each push to the repo. It is unofficially tested with clang.

Examples

To see how TS is used explicitly, see the test directory.

TS applied to general tree structures

Note that TS can be applied to any tree-like hierarchy where there is some kind of property that connects two nodes (systems) going in a specific direction. The Matrix can be any object as long as the signatures are correct and the to_parent and to_child functions have the correct form.