| 1 | // -*- C++ -*-
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| 2 | // CLASSDOC OFF
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| 3 | // $Id: Rotation.h,v 1.1 2008-06-04 14:14:59 demin Exp $
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| 4 | // ---------------------------------------------------------------------------
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| 5 | // CLASSDOC ON
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| 6 | //
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| 7 | // This file is a part of the CLHEP - a Class Library for High Energy Physics.
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| 8 | //
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| 9 | // This is the definition of the HepRotation class for performing rotations
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| 10 | // on objects of the Hep3Vector (and HepLorentzVector) class.
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| 11 | //
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| 12 | // HepRotation is a concrete implementation of Hep3RotationInterface.
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| 13 | //
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| 14 | // .SS See Also
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| 15 | // RotationInterfaces.h
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| 16 | // ThreeVector.h, LorentzVector.h, LorentzRotation.h
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| 17 | //
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| 18 | // .SS Author
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| 19 | // Leif Lonnblad, Mark Fischler
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| 20 |
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| 21 | #ifndef HEP_ROTATION_H
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| 22 | #define HEP_ROTATION_H
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| 23 |
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| 24 | #ifdef GNUPRAGMA
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| 25 | #pragma interface
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| 26 | #endif
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| 27 |
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| 28 | #include "CLHEP/Vector/defs.h"
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| 29 | #include "CLHEP/Vector/RotationInterfaces.h"
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| 30 | #include "CLHEP/Vector/RotationX.h"
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| 31 | #include "CLHEP/Vector/RotationY.h"
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| 32 | #include "CLHEP/Vector/RotationZ.h"
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| 33 | #include "CLHEP/Vector/LorentzVector.h"
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| 34 |
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| 35 | namespace CLHEP {
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| 36 |
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| 37 | // Declarations of classes and global methods
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| 38 | class HepRotation;
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| 39 | inline HepRotation inverseOf ( const HepRotation & r );
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| 40 | inline HepRotation operator * (const HepRotationX & rx, const HepRotation & r);
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| 41 | inline HepRotation operator * (const HepRotationY & ry, const HepRotation & r);
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| 42 | inline HepRotation operator * (const HepRotationZ & rz, const HepRotation & r);
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| 43 |
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| 44 | /**
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| 45 | * @author
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| 46 | * @ingroup vector
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| 47 | */
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| 48 | class HepRotation {
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| 49 |
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| 50 | public:
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| 51 |
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| 52 | // ---------- Constructors and Assignment:
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| 53 |
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| 54 | inline HepRotation();
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| 55 | // Default constructor. Gives a unit matrix.
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| 56 |
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| 57 | inline HepRotation(const HepRotation & m);
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| 58 | // Copy constructor.
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| 59 |
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| 60 | inline HepRotation(const HepRotationX & m);
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| 61 | inline HepRotation(const HepRotationY & m);
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| 62 | inline HepRotation(const HepRotationZ & m);
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| 63 | // Construct from specialized rotation.
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| 64 |
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| 65 | HepRotation & set( const Hep3Vector & axis, double delta );
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| 66 | HepRotation ( const Hep3Vector & axis, double delta );
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| 67 | // Construct from axis and angle.
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| 68 |
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| 69 | HepRotation & set( const HepAxisAngle & ax );
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| 70 | HepRotation ( const HepAxisAngle & ax );
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| 71 | // Construct from AxisAngle structure.
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| 72 |
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| 73 | HepRotation & set( double phi, double theta, double psi );
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| 74 | HepRotation ( double phi, double theta, double psi );
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| 75 | // Construct from three Euler angles (in radians).
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| 76 |
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| 77 | HepRotation & set( const HepEulerAngles & e );
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| 78 | HepRotation ( const HepEulerAngles & e );
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| 79 | // Construct from EulerAngles structure.
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| 80 |
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| 81 | HepRotation ( const Hep3Vector & colX,
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| 82 | const Hep3Vector & colY,
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| 83 | const Hep3Vector & colZ );
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| 84 | // Construct from three *orthogonal* unit vector columns.
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| 85 | // NOTE:
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| 86 | // This constructor, and the two set methods below,
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| 87 | // will check that the columns (or rows) form an orthonormal
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| 88 | // matrix, and will adjust values so that this relation is
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| 89 | // as exact as possible.
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| 90 |
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| 91 | HepRotation & set( const Hep3Vector & colX,
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| 92 | const Hep3Vector & colY,
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| 93 | const Hep3Vector & colZ );
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| 94 | // supply three *orthogonal* unit vectors for the columns.
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| 95 |
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| 96 | HepRotation & setRows( const Hep3Vector & rowX,
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| 97 | const Hep3Vector & rowY,
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| 98 | const Hep3Vector & rowZ );
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| 99 | // supply three *orthogonal* unit vectors for the rows.
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| 100 |
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| 101 | inline HepRotation & set(const HepRotationX & r);
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| 102 | inline HepRotation & set(const HepRotationY & r);
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| 103 | inline HepRotation & set(const HepRotationZ & r);
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| 104 | // set from specialized rotation.
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| 105 |
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| 106 | inline HepRotation & operator = (const HepRotation & r);
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| 107 | // Assignment.
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| 108 |
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| 109 | inline HepRotation & operator = (const HepRotationX & r);
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| 110 | inline HepRotation & operator = (const HepRotationY & r);
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| 111 | inline HepRotation & operator = (const HepRotationZ & r);
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| 112 | // Assignment from specialized rotation.
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| 113 |
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| 114 | inline HepRotation &set( const HepRep3x3 & m );
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| 115 | inline HepRotation ( const HepRep3x3 & m );
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| 116 | // WARNING - NO CHECKING IS DONE!
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| 117 | // Constructon directly from from a 3x3 representation,
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| 118 | // which is required to be an orthogonal matrix.
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| 119 |
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| 120 | inline ~HepRotation();
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| 121 | // Trivial destructor.
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| 122 |
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| 123 | // ---------- Accessors:
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| 124 |
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| 125 | inline Hep3Vector colX() const;
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| 126 | inline Hep3Vector colY() const;
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| 127 | inline Hep3Vector colZ() const;
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| 128 | // orthogonal unit-length column vectors
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| 129 |
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| 130 | inline Hep3Vector rowX() const;
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| 131 | inline Hep3Vector rowY() const;
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| 132 | inline Hep3Vector rowZ() const;
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| 133 | // orthogonal unit-length row vectors
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| 134 |
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| 135 | inline double xx() const;
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| 136 | inline double xy() const;
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| 137 | inline double xz() const;
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| 138 | inline double yx() const;
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| 139 | inline double yy() const;
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| 140 | inline double yz() const;
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| 141 | inline double zx() const;
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| 142 | inline double zy() const;
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| 143 | inline double zz() const;
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| 144 | // Elements of the rotation matrix (Geant4).
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| 145 |
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| 146 | inline HepRep3x3 rep3x3() const;
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| 147 | // 3x3 representation:
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| 148 |
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| 149 | // ------------ Subscripting:
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| 150 |
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| 151 | class HepRotation_row {
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| 152 | public:
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| 153 | inline HepRotation_row(const HepRotation &, int);
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| 154 | inline double operator [] (int) const;
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| 155 | private:
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| 156 | const HepRotation & rr;
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| 157 | int ii;
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| 158 | };
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| 159 | // Helper class for implemention of C-style subscripting r[i][j]
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| 160 |
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| 161 | inline const HepRotation_row operator [] (int) const;
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| 162 | // Returns object of the helper class for C-style subscripting r[i][j]
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| 163 | // i and j range from 0 to 2.
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| 164 |
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| 165 | double operator () (int, int) const;
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| 166 | // Fortran-style subscripting: returns (i,j) element of the rotation matrix.
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| 167 | // Note: i and j still range from 0 to 2. [Rotation.cc]
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| 168 |
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| 169 | // ------------ Euler angles:
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| 170 | inline double getPhi () const;
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| 171 | inline double getTheta() const;
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| 172 | inline double getPsi () const;
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| 173 | double phi () const;
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| 174 | double theta() const;
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| 175 | double psi () const;
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| 176 | HepEulerAngles eulerAngles() const;
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| 177 |
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| 178 | // ------------ axis & angle of rotation:
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| 179 | inline double getDelta() const;
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| 180 | inline Hep3Vector getAxis () const;
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| 181 | double delta() const;
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| 182 | Hep3Vector axis () const;
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| 183 | HepAxisAngle axisAngle() const;
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| 184 | void getAngleAxis(double & delta, Hep3Vector & axis) const;
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| 185 | // Returns the rotation angle and rotation axis (Geant4). [Rotation.cc]
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| 186 |
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| 187 | // ------------- Angles of rotated axes
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| 188 | double phiX() const;
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| 189 | double phiY() const;
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| 190 | double phiZ() const;
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| 191 | double thetaX() const;
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| 192 | double thetaY() const;
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| 193 | double thetaZ() const;
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| 194 | // Return angles (RADS) made by rotated axes against original axes (Geant4).
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| 195 | // [Rotation.cc]
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| 196 |
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| 197 | // ---------- Other accessors treating pure rotation as a 4-rotation
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| 198 |
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| 199 | inline HepLorentzVector col1() const;
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| 200 | inline HepLorentzVector col2() const;
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| 201 | inline HepLorentzVector col3() const;
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| 202 | // orthosymplectic 4-vector columns - T component will be zero
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| 203 |
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| 204 | inline HepLorentzVector col4() const;
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| 205 | // Will be (0,0,0,1) for this pure Rotation.
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| 206 |
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| 207 | inline HepLorentzVector row1() const;
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| 208 | inline HepLorentzVector row2() const;
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| 209 | inline HepLorentzVector row3() const;
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| 210 | // orthosymplectic 4-vector rows - T component will be zero
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| 211 |
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| 212 | inline HepLorentzVector row4() const;
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| 213 | // Will be (0,0,0,1) for this pure Rotation.
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| 214 |
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| 215 | inline double xt() const;
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| 216 | inline double yt() const;
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| 217 | inline double zt() const;
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| 218 | inline double tx() const;
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| 219 | inline double ty() const;
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| 220 | inline double tz() const;
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| 221 | // Will be zero for this pure Rotation
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| 222 |
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| 223 | inline double tt() const;
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| 224 | // Will be one for this pure Rotation
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| 225 |
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| 226 | inline HepRep4x4 rep4x4() const;
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| 227 | // 4x4 representation.
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| 228 |
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| 229 | // --------- Mutators
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| 230 |
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| 231 | void setPhi (double phi);
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| 232 | // change Euler angle phi, leaving theta and psi unchanged.
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| 233 |
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| 234 | void setTheta (double theta);
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| 235 | // change Euler angle theta, leaving phi and psi unchanged.
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| 236 |
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| 237 | void setPsi (double psi);
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| 238 | // change Euler angle psi, leaving theta and phi unchanged.
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| 239 |
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| 240 | void setAxis (const Hep3Vector & axis);
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| 241 | // change rotation axis, leaving delta unchanged.
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| 242 |
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| 243 | void setDelta (double delta);
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| 244 | // change angle of rotation, leaving rotation axis unchanged.
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| 245 |
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| 246 | // ---------- Decomposition:
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| 247 |
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| 248 | void decompose (HepAxisAngle & rotation, Hep3Vector & boost) const;
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| 249 | void decompose (Hep3Vector & boost, HepAxisAngle & rotation) const;
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| 250 | // These are trivial, as the boost vector is 0. [RotationP.cc]
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| 251 |
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| 252 | // ---------- Comparisons:
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| 253 |
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| 254 | bool isIdentity() const;
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| 255 | // Returns true if the identity matrix (Geant4). [Rotation.cc]
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| 256 |
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| 257 | int compare( const HepRotation & r ) const;
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| 258 | // Dictionary-order comparison, in order zz, zy, zx, yz, ... xx
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| 259 | // Used in operator<, >, <=, >=
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| 260 |
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| 261 | inline bool operator== ( const HepRotation & r ) const;
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| 262 | inline bool operator!= ( const HepRotation & r ) const;
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| 263 | inline bool operator< ( const HepRotation & r ) const;
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| 264 | inline bool operator> ( const HepRotation & r ) const;
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| 265 | inline bool operator<= ( const HepRotation & r ) const;
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| 266 | inline bool operator>= ( const HepRotation & r ) const;
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| 267 |
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| 268 | double distance2( const HepRotation & r ) const;
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| 269 | // 3 - Tr ( this/r ) -- This works with RotationX, Y or Z also
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| 270 |
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| 271 | double howNear( const HepRotation & r ) const;
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| 272 | bool isNear( const HepRotation & r,
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| 273 | double epsilon=Hep4RotationInterface::tolerance) const;
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| 274 |
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| 275 | double distance2( const HepBoost & lt ) const;
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| 276 | // 3 - Tr ( this ) + |b|^2 / (1-|b|^2)
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| 277 | double distance2( const HepLorentzRotation & lt ) const;
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| 278 | // 3 - Tr ( this/r ) + |b|^2 / (1-|b|^2) where b is the boost vector of lt
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| 279 |
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| 280 | double howNear( const HepBoost & lt ) const;
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| 281 | double howNear( const HepLorentzRotation & lt ) const;
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| 282 | bool isNear( const HepBoost & lt,
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| 283 | double epsilon=Hep4RotationInterface::tolerance) const;
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| 284 | bool isNear( const HepLorentzRotation & lt,
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| 285 | double epsilon=Hep4RotationInterface::tolerance) const;
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| 286 |
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| 287 | // ---------- Properties:
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| 288 |
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| 289 | double norm2() const;
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| 290 | // distance2 (IDENTITY), which is 3 - Tr ( *this )
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| 291 |
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| 292 | void rectify();
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| 293 | // non-const but logically moot correction for accumulated roundoff errors
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| 294 | // rectify averages the matrix with the transpose of its actual
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| 295 | // inverse (absent accumulated roundoff errors, the transpose IS
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| 296 | // the inverse)); this removes to first order those errors.
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| 297 | // Then it formally extracts axis and delta, and forms a true
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| 298 | // HepRotation with those values of axis and delta.
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| 299 |
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| 300 | // ---------- Application:
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| 301 |
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| 302 | inline Hep3Vector operator() (const Hep3Vector & p) const;
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| 303 | // Rotate a Hep3Vector.
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| 304 |
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| 305 | inline Hep3Vector operator * (const Hep3Vector & p) const;
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| 306 | // Multiplication with a Hep3Vector.
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| 307 |
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| 308 | inline HepLorentzVector operator()( const HepLorentzVector & w ) const;
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| 309 | // Rotate (the space part of) a HepLorentzVector.
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| 310 |
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| 311 | inline HepLorentzVector operator* ( const HepLorentzVector & w ) const;
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| 312 | // Multiplication with a HepLorentzVector.
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| 313 |
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| 314 | // ---------- Operations in the group of Rotations
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| 315 |
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| 316 | inline HepRotation operator * (const HepRotation & r) const;
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| 317 | // Product of two rotations (this) * r - matrix multiplication
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| 318 |
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| 319 | inline HepRotation operator * (const HepRotationX & rx) const;
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| 320 | inline HepRotation operator * (const HepRotationY & ry) const;
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| 321 | inline HepRotation operator * (const HepRotationZ & rz) const;
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| 322 | // Product of two rotations (this) * r - faster when specialized type
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| 323 |
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| 324 | inline HepRotation & operator *= (const HepRotation & r);
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| 325 | inline HepRotation & transform (const HepRotation & r);
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| 326 | // Matrix multiplication.
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| 327 | // Note a *= b; <=> a = a * b; while a.transform(b); <=> a = b * a;
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| 328 |
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| 329 | inline HepRotation & operator *= (const HepRotationX & r);
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| 330 | inline HepRotation & operator *= (const HepRotationY & r);
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| 331 | inline HepRotation & operator *= (const HepRotationZ & r);
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| 332 | inline HepRotation & transform (const HepRotationX & r);
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| 333 | inline HepRotation & transform (const HepRotationY & r);
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| 334 | inline HepRotation & transform (const HepRotationZ & r);
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| 335 | // Matrix multiplication by specialized matrices
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| 336 |
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| 337 | HepRotation & rotateX(double delta);
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| 338 | // Rotation around the x-axis; equivalent to R = RotationX(delta) * R
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| 339 |
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| 340 | HepRotation & rotateY(double delta);
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| 341 | // Rotation around the y-axis; equivalent to R = RotationY(delta) * R
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| 342 |
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| 343 | HepRotation & rotateZ(double delta);
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| 344 | // Rotation around the z-axis; equivalent to R = RotationZ(delta) * R
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| 345 |
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| 346 | HepRotation & rotate(double delta, const Hep3Vector & axis);
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| 347 | inline HepRotation & rotate(double delta, const Hep3Vector * axis);
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| 348 | // Rotation around a specified vector.
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| 349 | // r.rotate(d,a) is equivalent to r = Rotation(d,a) * r
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| 350 |
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| 351 | HepRotation & rotateAxes(const Hep3Vector & newX,
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| 352 | const Hep3Vector & newY,
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| 353 | const Hep3Vector & newZ);
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| 354 | // Rotation of local axes defined by 3 orthonormal vectors (Geant4).
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| 355 | // Equivalent to r = Rotation (newX, newY, newZ) * r
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| 356 |
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| 357 | inline HepRotation inverse() const;
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| 358 | // Returns the inverse.
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| 359 |
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| 360 | inline HepRotation & invert();
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| 361 | // Inverts the Rotation matrix.
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| 362 |
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| 363 | // ---------- I/O:
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| 364 |
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| 365 | std::ostream & print( std::ostream & os ) const;
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| 366 | // Aligned six-digit-accurate output of the rotation matrix. [RotationIO.cc]
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| 367 |
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| 368 | // ---------- Identity Rotation:
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| 369 |
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| 370 | static const HepRotation IDENTITY;
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| 371 |
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| 372 | // ---------- Tolerance
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| 373 |
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| 374 | static inline double getTolerance();
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| 375 | static inline double setTolerance(double tol);
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| 376 |
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| 377 | protected:
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| 378 |
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| 379 | inline HepRotation(double mxx, double mxy, double mxz,
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| 380 | double myx, double myy, double myz,
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| 381 | double mzx, double mzy, double mzz);
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| 382 | // Protected constructor.
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| 383 | // DOES NOT CHECK FOR VALIDITY AS A ROTATION.
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| 384 |
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| 385 | friend HepRotation operator* (const HepRotationX & rx, const HepRotation & r);
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| 386 | friend HepRotation operator* (const HepRotationY & ry, const HepRotation & r);
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| 387 | friend HepRotation operator* (const HepRotationZ & rz, const HepRotation & r);
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| 388 |
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| 389 | double rxx, rxy, rxz,
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| 390 | ryx, ryy, ryz,
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| 391 | rzx, rzy, rzz;
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| 392 | // The matrix elements.
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| 393 |
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| 394 | private:
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| 395 | bool
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| 396 | setCols ( const Hep3Vector & u1, // Vectors assume to be of unit length
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| 397 | const Hep3Vector & u2,
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| 398 | const Hep3Vector & u3,
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| 399 | double u1u2,
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| 400 | Hep3Vector & v1, // Returned vectors
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| 401 | Hep3Vector & v2,
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| 402 | Hep3Vector & v3 ) const;
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| 403 | void setArbitrarily (const Hep3Vector & colX, // assumed to be of unit length
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| 404 | Hep3Vector & v1,
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| 405 | Hep3Vector & v2,
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| 406 | Hep3Vector & v3) const;
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| 407 | }; // HepRotation
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| 408 |
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| 409 | inline
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| 410 | std::ostream & operator <<
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| 411 | ( std::ostream & os, const HepRotation & r ) {return r.print(os);}
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| 412 |
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| 413 | } // namespace CLHEP
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| 414 |
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| 415 | #include "CLHEP/Vector/Rotation.icc"
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| 416 |
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| 417 | #ifdef ENABLE_BACKWARDS_COMPATIBILITY
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| 418 | // backwards compatibility will be enabled ONLY in CLHEP 1.9
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| 419 | using namespace CLHEP;
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| 420 | #endif
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| 421 |
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| 422 | #endif /* HEP_ROTATION_H */
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| 423 |
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