Gabriele Cosmo
284 lines
8.5 KiB
C++
284 lines
8.5 KiB
C++
// -*- C++ -*-
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// CLASSDOC OFF
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// ---------------------------------------------------------------------------
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// CLASSDOC ON
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//
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// This file is a part of the CLHEP - a Class Library for High Energy Physics.
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//
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// This is the definition of the HepRotationY class for performing rotations
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// around the X axis on objects of the Hep3Vector (and HepLorentzVector) class.
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//
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// HepRotationY is a concrete implementation of Hep3RotationInterface.
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//
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// .SS See Also
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// RotationInterfaces.h
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// ThreeVector.h, LorentzVector.h, LorentzRotation.h
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//
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// .SS Author
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// Mark Fischler
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#ifndef HEP_ROTATIONY_H
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#define HEP_ROTATIONY_H
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#include "CLHEP/Vector/RotationInterfaces.h"
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namespace CLHEP {
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class HepRotationY;
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class HepRotation;
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class HepBoost;
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inline HepRotationY inverseOf(const HepRotationY & r);
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// Returns the inverse of a RotationY.
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/**
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* @author
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* @ingroup vector
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*/
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class HepRotationY {
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public:
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// ---------- Constructors and Assignment:
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inline HepRotationY();
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// Default constructor. Gives an identity rotation.
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HepRotationY(double delta);
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// supply angle of rotation
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inline HepRotationY(const HepRotationY & orig);
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inline HepRotationY(HepRotationY && orig) = default;
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// Copy and move constructors.
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inline HepRotationY & operator = (const HepRotationY & r);
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inline HepRotationY & operator = (HepRotationY && r) = default;
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// Copy and move assignments from a Rotation, which must be RotationY
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HepRotationY & set ( double delta );
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// set angle of rotation
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inline ~HepRotationY();
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// Trivial destructor.
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// ---------- Accessors:
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inline Hep3Vector colX() const;
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inline Hep3Vector colY() const;
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inline Hep3Vector colZ() const;
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// orthogonal unit-length column vectors
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inline Hep3Vector rowX() const;
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inline Hep3Vector rowY() const;
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inline Hep3Vector rowZ() const;
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// orthogonal unit-length row vectors
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inline double xx() const;
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inline double xy() const;
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inline double xz() const;
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inline double yx() const;
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inline double yy() const;
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inline double yz() const;
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inline double zx() const;
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inline double zy() const;
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inline double zz() const;
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// Elements of the rotation matrix (Geant4).
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inline HepRep3x3 rep3x3() const;
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// 3x3 representation:
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// ------------ Euler angles:
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inline double getPhi () const;
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inline double getTheta() const;
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inline double getPsi () const;
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double phi () const;
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double theta() const;
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double psi () const;
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HepEulerAngles eulerAngles() const;
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// ------------ axis & angle of rotation:
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inline double getDelta() const;
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inline Hep3Vector getAxis () const;
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inline double delta() const;
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inline Hep3Vector axis () const;
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inline HepAxisAngle axisAngle() const;
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inline void getAngleAxis(double & delta, Hep3Vector & axis) const;
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// Returns the rotation angle and rotation axis (Geant4).
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// ------------- Angles of rotated axes
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double phiX() const;
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double phiY() const;
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double phiZ() const;
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double thetaX() const;
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double thetaY() const;
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double thetaZ() const;
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// Return angles (RADS) made by rotated axes against original axes (Geant4).
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// ---------- Other accessors treating pure rotation as a 4-rotation
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inline HepLorentzVector col1() const;
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inline HepLorentzVector col2() const;
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inline HepLorentzVector col3() const;
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// orthosymplectic 4-vector columns - T component will be zero
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inline HepLorentzVector col4() const;
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// Will be (0,0,0,1) for this pure Rotation.
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inline HepLorentzVector row1() const;
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inline HepLorentzVector row2() const;
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inline HepLorentzVector row3() const;
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// orthosymplectic 4-vector rows - T component will be zero
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inline HepLorentzVector row4() const;
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// Will be (0,0,0,1) for this pure Rotation.
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inline double xt() const;
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inline double yt() const;
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inline double zt() const;
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inline double tx() const;
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inline double ty() const;
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inline double tz() const;
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// Will be zero for this pure Rotation
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inline double tt() const;
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// Will be one for this pure Rotation
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inline HepRep4x4 rep4x4() const;
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// 4x4 representation.
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// --------- Mutators
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void setDelta (double delta);
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// change angle of rotation, leaving rotation axis unchanged.
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// ---------- Decomposition:
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void decompose (HepAxisAngle & rotation, Hep3Vector & boost) const;
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void decompose (Hep3Vector & boost, HepAxisAngle & rotation) const;
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void decompose (HepRotation & rotation, HepBoost & boost) const;
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void decompose (HepBoost & boost, HepRotation & rotation) const;
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// These are trivial, as the boost vector is 0.
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// ---------- Comparisons:
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inline bool isIdentity() const;
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// Returns true if the identity matrix (Geant4).
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inline int compare( const HepRotationY & r ) const;
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// Dictionary-order comparison, in order of delta
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// Used in operator<, >, <=, >=
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inline bool operator== ( const HepRotationY & r ) const;
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inline bool operator!= ( const HepRotationY & r ) const;
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inline bool operator< ( const HepRotationY & r ) const;
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inline bool operator> ( const HepRotationY & r ) const;
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inline bool operator<= ( const HepRotationY & r ) const;
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inline bool operator>= ( const HepRotationY & r ) const;
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double distance2( const HepRotationY & r ) const;
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// 3 - Tr ( this/r )
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double distance2( const HepRotation & r ) const;
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// 3 - Tr ( this/r ) -- This works with RotationY or Z also
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double howNear( const HepRotationY & r ) const;
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double howNear( const HepRotation & r ) const;
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bool isNear( const HepRotationY & r,
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double epsilon=Hep4RotationInterface::tolerance) const;
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bool isNear( const HepRotation & r,
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double epsilon=Hep4RotationInterface::tolerance) const;
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double distance2( const HepBoost & lt ) const;
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// 3 - Tr ( this ) + |b|^2 / (1-|b|^2)
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double distance2( const HepLorentzRotation & lt ) const;
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// 3 - Tr ( this/r ) + |b|^2 / (1-|b|^2) where b is the boost vector of lt
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double howNear( const HepBoost & lt ) const;
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double howNear( const HepLorentzRotation & lt ) const;
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bool isNear( const HepBoost & lt,
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double epsilon=Hep4RotationInterface::tolerance) const;
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bool isNear( const HepLorentzRotation & lt,
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double epsilon=Hep4RotationInterface::tolerance) const;
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// ---------- Properties:
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double norm2() const;
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// distance2 (IDENTITY), which is 3 - Tr ( *this )
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inline void rectify();
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// non-const but logically moot correction for accumulated roundoff errors
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// ---------- Application:
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inline Hep3Vector operator() (const Hep3Vector & p) const;
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// Rotate a Hep3Vector.
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inline Hep3Vector operator * (const Hep3Vector & p) const;
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// Multiplication with a Hep3Vector.
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inline HepLorentzVector operator()( const HepLorentzVector & w ) const;
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// Rotate (the space part of) a HepLorentzVector.
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inline HepLorentzVector operator* ( const HepLorentzVector & w ) const;
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// Multiplication with a HepLorentzVector.
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// ---------- Operations in the group of Rotations
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inline HepRotationY operator * (const HepRotationY & ry) const;
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// Product of two Y rotations (this) * ry is known to be RotationY.
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inline HepRotationY & operator *= (const HepRotationY & r);
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inline HepRotationY & transform (const HepRotationY & r);
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// Matrix multiplication.
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// Note a *= b; <=> a = a * b; while a.transform(b); <=> a = b * a;
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// However, in this special case, they commute: Both just add deltas.
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inline HepRotationY inverse() const;
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// Returns the inverse.
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friend HepRotationY inverseOf(const HepRotationY & r);
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// Returns the inverse of a RotationY.
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inline HepRotationY & invert();
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// Inverts the Rotation matrix (be negating delta).
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// ---------- I/O:
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std::ostream & print( std::ostream & os ) const;
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// Output, identifying type of rotation and delta.
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// ---------- Tolerance
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static inline double getTolerance();
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static inline double setTolerance(double tol);
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protected:
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double its_d;
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// The angle of rotation.
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double its_s;
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double its_c;
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// Cache the trig functions, for rapid operations.
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inline HepRotationY ( double dd, double ss, double cc );
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// Unchecked load-the-data-members
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static inline double proper (double delta);
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// Put an angle into the range of (-PI, PI]. Useful helper method.
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}; // HepRotationY
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// ---------- Free-function operations in the group of Rotations
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inline
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std::ostream & operator <<
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( std::ostream & os, const HepRotationY & r ) {return r.print(os);}
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} // namespace CLHEP
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#include "CLHEP/Vector/RotationY.icc"
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#endif /* HEP_ROTATIONY_H */
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