source: trunk/CLHEP/Vector/RotationX.h

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1// -*- C++ -*-
2// CLASSDOC OFF
3// ---------------------------------------------------------------------------
4// CLASSDOC ON
5//
6// This file is a part of the CLHEP - a Class Library for High Energy Physics.
7//
8// This is the definition of the HepRotationX class for performing rotations
9// around the X axis on objects of the Hep3Vector (and HepLorentzVector) class.
10//
11// HepRotationX is a concrete implementation of Hep3RotationInterface.
12//
13// .SS See Also
14// RotationInterfaces.h
15// ThreeVector.h, LorentzVector.h, LorentzRotation.h
16//
17// .SS Author
18// Mark Fischler
19
20#ifndef HEP_ROTATIONX_H
21#define HEP_ROTATIONX_H
22
23#ifdef GNUPRAGMA
24#pragma interface
25#endif
26
27#include "CLHEP/Vector/defs.h"
28#include "CLHEP/Vector/RotationInterfaces.h"
29
30namespace CLHEP {
31
32class HepRotationX;
33
34class HepRotation;
35class HepBoost;
36
37inline HepRotationX inverseOf(const HepRotationX & r);
38// Returns the inverse of a RotationX.
39
40/**
41 * @author
42 * @ingroup vector
43 */
44class HepRotationX {
45
46public:
47
48 // ---------- Constructors and Assignment:
49
50 inline HepRotationX();
51 // Default constructor. Gives an identity rotation.
52
53 HepRotationX(double delta);
54 // supply angle of rotation
55
56 inline HepRotationX(const HepRotationX & orig);
57 // Copy constructor.
58
59 inline HepRotationX & operator = (const HepRotationX & r);
60 // Assignment from a Rotation, which must be RotationX
61
62 HepRotationX & set ( double delta );
63 // set angle of rotation
64
65 inline ~HepRotationX();
66 // Trivial destructor.
67
68 // ---------- Accessors:
69
70 inline Hep3Vector colX() const;
71 inline Hep3Vector colY() const;
72 inline Hep3Vector colZ() const;
73 // orthogonal unit-length column vectors
74
75 inline Hep3Vector rowX() const;
76 inline Hep3Vector rowY() const;
77 inline Hep3Vector rowZ() const;
78 // orthogonal unit-length row vectors
79
80 inline double xx() const;
81 inline double xy() const;
82 inline double xz() const;
83 inline double yx() const;
84 inline double yy() const;
85 inline double yz() const;
86 inline double zx() const;
87 inline double zy() const;
88 inline double zz() const;
89 // Elements of the rotation matrix (Geant4).
90
91 inline HepRep3x3 rep3x3() const;
92 // 3x3 representation:
93
94 // ------------ Euler angles:
95 inline double getPhi () const;
96 inline double getTheta() const;
97 inline double getPsi () const;
98 double phi () const;
99 double theta() const;
100 double psi () const;
101 HepEulerAngles eulerAngles() const;
102
103 // ------------ axis & angle of rotation:
104 inline double getDelta() const;
105 inline Hep3Vector getAxis () const;
106 inline double delta() const;
107 inline Hep3Vector axis () const;
108 inline HepAxisAngle axisAngle() const;
109 inline void getAngleAxis(double & delta, Hep3Vector & axis) const;
110 // Returns the rotation angle and rotation axis (Geant4).
111
112 // ------------- Angles of rotated axes
113 double phiX() const;
114 double phiY() const;
115 double phiZ() const;
116 double thetaX() const;
117 double thetaY() const;
118 double thetaZ() const;
119 // Return angles (RADS) made by rotated axes against original axes (Geant4).
120
121 // ---------- Other accessors treating pure rotation as a 4-rotation
122
123 inline HepLorentzVector col1() const;
124 inline HepLorentzVector col2() const;
125 inline HepLorentzVector col3() const;
126 // orthosymplectic 4-vector columns - T component will be zero
127
128 inline HepLorentzVector col4() const;
129 // Will be (0,0,0,1) for this pure Rotation.
130
131 inline HepLorentzVector row1() const;
132 inline HepLorentzVector row2() const;
133 inline HepLorentzVector row3() const;
134 // orthosymplectic 4-vector rows - T component will be zero
135
136 inline HepLorentzVector row4() const;
137 // Will be (0,0,0,1) for this pure Rotation.
138
139 inline double xt() const;
140 inline double yt() const;
141 inline double zt() const;
142 inline double tx() const;
143 inline double ty() const;
144 inline double tz() const;
145 // Will be zero for this pure Rotation
146
147 inline double tt() const;
148 // Will be one for this pure Rotation
149
150 inline HepRep4x4 rep4x4() const;
151 // 4x4 representation.
152
153 // --------- Mutators
154
155 void setDelta (double delta);
156 // change angle of rotation, leaving rotation axis unchanged.
157
158 // ---------- Decomposition:
159
160 void decompose (HepAxisAngle & rotation, Hep3Vector & boost) const;
161 void decompose (Hep3Vector & boost, HepAxisAngle & rotation) const;
162 void decompose (HepRotation & rotation, HepBoost & boost) const;
163 void decompose (HepBoost & boost, HepRotation & rotation) const;
164 // These are trivial, as the boost vector is 0.
165
166 // ---------- Comparisons:
167
168 inline bool isIdentity() const;
169 // Returns true if the identity matrix (Geant4).
170
171 inline int compare( const HepRotationX & r ) const;
172 // Dictionary-order comparison, in order of delta
173 // Used in operator<, >, <=, >=
174
175 inline bool operator== ( const HepRotationX & r ) const;
176 inline bool operator!= ( const HepRotationX & r ) const;
177 inline bool operator< ( const HepRotationX & r ) const;
178 inline bool operator> ( const HepRotationX & r ) const;
179 inline bool operator<= ( const HepRotationX & r ) const;
180 inline bool operator>= ( const HepRotationX & r ) const;
181
182 double distance2( const HepRotationX & r ) const;
183 // 3 - Tr ( this/r )
184
185 double distance2( const HepRotation & r ) const;
186 // 3 - Tr ( this/r ) -- This works with RotationY or Z also
187
188 double howNear( const HepRotationX & r ) const;
189 double howNear( const HepRotation & r ) const;
190 bool isNear( const HepRotationX & r,
191 double epsilon=Hep4RotationInterface::tolerance) const;
192 bool isNear( const HepRotation & r,
193 double epsilon=Hep4RotationInterface::tolerance) const;
194
195 double distance2( const HepBoost & lt ) const;
196 // 3 - Tr ( this ) + |b|^2 / (1-|b|^2)
197 double distance2( const HepLorentzRotation & lt ) const;
198 // 3 - Tr ( this/r ) + |b|^2 / (1-|b|^2) where b is the boost vector of lt
199
200 double howNear( const HepBoost & lt ) const;
201 double howNear( const HepLorentzRotation & lt ) const;
202 bool isNear( const HepBoost & lt,
203 double epsilon=Hep4RotationInterface::tolerance) const;
204 bool isNear( const HepLorentzRotation & lt,
205 double epsilon=Hep4RotationInterface::tolerance) const;
206
207 // ---------- Properties:
208
209 double norm2() const;
210 // distance2 (IDENTITY), which is 3 - Tr ( *this )
211
212 inline void rectify();
213 // non-const but logically moot correction for accumulated roundoff errors
214
215 // ---------- Application:
216
217 inline Hep3Vector operator() (const Hep3Vector & p) const;
218 // Rotate a Hep3Vector.
219
220 inline Hep3Vector operator * (const Hep3Vector & p) const;
221 // Multiplication with a Hep3Vector.
222
223 inline HepLorentzVector operator()( const HepLorentzVector & w ) const;
224 // Rotate (the space part of) a HepLorentzVector.
225
226 inline HepLorentzVector operator* ( const HepLorentzVector & w ) const;
227 // Multiplication with a HepLorentzVector.
228
229 // ---------- Operations in the group of Rotations
230
231 inline HepRotationX operator * (const HepRotationX & rx) const;
232 // Product of two X rotations: (this) * rx is known to be RotationX.
233
234 inline HepRotationX & operator *= (const HepRotationX & r);
235 inline HepRotationX & transform (const HepRotationX & r);
236 // Matrix multiplication.
237 // Note a *= b; <=> a = a * b; while a.transform(b); <=> a = b * a;
238 // However, in this special case, they commute: Both just add deltas.
239
240 inline HepRotationX inverse() const;
241 // Returns the inverse.
242
243 friend HepRotationX inverseOf(const HepRotationX & r);
244 // Returns the inverse of a RotationX.
245
246 inline HepRotationX & invert();
247 // Inverts the Rotation matrix (be negating delta).
248
249 // ---------- I/O:
250
251 std::ostream & print( std::ostream & os ) const;
252 // Output, identifying type of rotation and delta.
253
254 // ---------- Tolerance
255
256 static inline double getTolerance();
257 static inline double setTolerance(double tol);
258
259protected:
260
261 double d;
262 // The angle of rotation.
263
264 double s;
265 double c;
266 // Cache the trig functions, for rapid operations.
267
268 inline HepRotationX ( double dd, double ss, double cc );
269 // Unchecked load-the-data-members
270
271 static inline double proper (double delta);
272 // Put an angle into the range of (-PI, PI]. Useful helper method.
273
274}; // HepRotationX
275// ---------- Free-function operations in the group of Rotations
276
277inline
278std::ostream & operator <<
279 ( std::ostream & os, const HepRotationX & r ) {return r.print(os);}
280
281} // namespace CLHEP
282
283#include "CLHEP/Vector/RotationX.icc"
284
285#ifdef ENABLE_BACKWARDS_COMPATIBILITY
286// backwards compatibility will be enabled ONLY in CLHEP 1.9
287using namespace CLHEP;
288#endif
289
290#endif /* HEP_ROTATIONX_H */
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