Add offsets to Diffractometer geometry function

Signed-off-by: Wolfgang Ludwig <wolfgang.ludwig@esrf.fr>

zUtil_Geo/gtGeoDiffractometerDefinition.m

@@ -5,7 +5,8 @@ function diff = gtGeoDiffractometerDefinition(types)
         'axes_sam_tilt', {zeros(0, 3)}, ... % They are applied in reverse order (last->first) for SAM->LAB transformations in gtGeoDiffractometerTensor
         'origin_basetilt', {zeros(1, 3)}, ...
         'origin_rotation', {zeros(1, 3)}, ...
-        'origin_sam_tilt', {zeros(0, 3)} );
+        'origin_sam_tilt', {zeros(0, 3)}, ...
+        'shifts_sam_stage', {zeros(0, 3)} );
 
     if (iscell(types))
         diff(2:numel(types)) = diff;
@@ -16,9 +17,10 @@ function diff = gtGeoDiffractometerDefinition(types)
         switch (lower(types))
             case 'esrf_id11'
                 diff.axes_basetilt = [0, 1, 0];
-                diff.axes_rotation = [0, 0, -1];
+                diff.axes_rotation = [0, 0, 1];
                 diff.axes_sam_tilt = [0, 1, 0; 1, 0, 0];
                 diff.origin_sam_tilt = [0, 0, 0; 0, 0, 0];
+                diff.limits_sam_tilt = [-15, 15; -20 20];
             otherwise
                 error('gtAcqDiffractometerDefinition:wrong_argument', ...
                     'Unknown diffractometer: %s', types)

zUtil_Geo/gtGeoDiffractometerTensor.m

@@ -2,8 +2,7 @@ function [t, t_sam, t_rot, t_base] = gtGeoDiffractometerTensor(diff, type, freev
     conf = struct( ...
         'angles_basetilt', 0, ...
         'angles_rotation', 0, ...
-        'angles_sam_tilt', zeros(0, 1), ...
-        'shifts_sam_stage', zeros(0, 3) );
+        'angles_sam_tilt', zeros(0, 1) );
     conf = parse_pv_pairs(conf, varargin);
 
     num_rotations = numel(conf.angles_rotation);
@@ -17,8 +16,8 @@ function [t, t_sam, t_rot, t_base] = gtGeoDiffractometerTensor(diff, type, freev
     is_sam2lab = strcmpi(type, 'sam2lab');
 
     t_shift = eye(4);
-    if (is_sam2lab && ~isempty(conf.shifts_sam_stage))
-        t_shift(:, 4) = [conf.shifts_sam_stage'; 1];
+    if (is_sam2lab && ~isempty(diff.shifts_sam_stage))
+        t_shift(:, 4) = [diff.shifts_sam_stage'; 1];
     end
 
     % Building sample tilt components
@@ -42,8 +41,8 @@ function [t, t_sam, t_rot, t_base] = gtGeoDiffractometerTensor(diff, type, freev
         end
     end
 
-    if (~is_sam2lab && ~isempty(conf.shifts_sam_stage))
-        t_shift(:, 4) = [-conf.shifts_sam_stage'; 1];
+    if (~is_sam2lab && ~isempty(diff.shifts_sam_stage))
+        t_shift(:, 4) = [-diff.shifts_sam_stage'; 1];
         t_sam = t_shift * t_sam;
     end
 

zUtil_Maths/gtMathsRotationTranslationTensor.m

@@ -5,7 +5,7 @@ function t = gtMathsRotationTranslationTensor(t_axis, t_angles, t_orig, freevec)
 
     rot_comp = gtMathsRotationMatrixComp(t_axis', 'col');
     t = eye(4);
-    t = repmat(t, 1, 1, numel(t_angles));
+    t = repmat(t, [1, 1, numel(t_angles)]);
     t(1:3, 1:3, :) = gtMathsRotationTensor(t_angles, rot_comp);
 
     t_tr_pre = eye(4);