| Geant4 Cross Reference |
1 // -*- C++ -*- 1 // -*- C++ -*-
2 // CLASSDOC OFF 2 // CLASSDOC OFF
>> 3 // $Id:$
3 // ------------------------------------------- 4 // ---------------------------------------------------------------------------
4 // CLASSDOC ON 5 // CLASSDOC ON
5 // 6 //
6 // This file is a part of the CLHEP - a Class 7 // This file is a part of the CLHEP - a Class Library for High Energy Physics.
7 // 8 //
8 // This is the definition of the HepRotation c 9 // This is the definition of the HepRotation class for performing rotations
9 // on objects of the Hep3Vector (and HepLorent 10 // on objects of the Hep3Vector (and HepLorentzVector) class.
10 // 11 //
11 // HepRotation is a concrete implementation of 12 // HepRotation is a concrete implementation of Hep3RotationInterface.
12 // 13 //
13 // .SS See Also 14 // .SS See Also
14 // RotationInterfaces.h 15 // RotationInterfaces.h
15 // ThreeVector.h, LorentzVector.h, LorentzRota 16 // ThreeVector.h, LorentzVector.h, LorentzRotation.h
16 // 17 //
17 // .SS Author 18 // .SS Author
18 // Leif Lonnblad, Mark Fischler 19 // Leif Lonnblad, Mark Fischler
19 20
20 #ifndef HEP_ROTATION_H 21 #ifndef HEP_ROTATION_H
21 #define HEP_ROTATION_H 22 #define HEP_ROTATION_H
22 23
>> 24 #ifdef GNUPRAGMA
>> 25 #pragma interface
>> 26 #endif
>> 27
23 #include "CLHEP/Vector/RotationInterfaces.h" 28 #include "CLHEP/Vector/RotationInterfaces.h"
24 #include "CLHEP/Vector/RotationX.h" 29 #include "CLHEP/Vector/RotationX.h"
25 #include "CLHEP/Vector/RotationY.h" 30 #include "CLHEP/Vector/RotationY.h"
26 #include "CLHEP/Vector/RotationZ.h" 31 #include "CLHEP/Vector/RotationZ.h"
27 #include "CLHEP/Vector/LorentzVector.h" 32 #include "CLHEP/Vector/LorentzVector.h"
28 33
29 namespace CLHEP { 34 namespace CLHEP {
30 35
31 // Declarations of classes and global methods 36 // Declarations of classes and global methods
32 class HepRotation; 37 class HepRotation;
33 inline HepRotation inverseOf ( const HepRotati 38 inline HepRotation inverseOf ( const HepRotation & r );
34 inline HepRotation operator * (const HepRotati 39 inline HepRotation operator * (const HepRotationX & rx, const HepRotation & r);
35 inline HepRotation operator * (const HepRotati 40 inline HepRotation operator * (const HepRotationY & ry, const HepRotation & r);
36 inline HepRotation operator * (const HepRotati 41 inline HepRotation operator * (const HepRotationZ & rz, const HepRotation & r);
37 42
38 /** 43 /**
39 * @author 44 * @author
40 * @ingroup vector 45 * @ingroup vector
41 */ 46 */
42 class HepRotation { 47 class HepRotation {
43 48
44 public: 49 public:
45 50
46 // ---------- Constructors and Assignment: 51 // ---------- Constructors and Assignment:
47 52
48 inline HepRotation(); 53 inline HepRotation();
49 // Default constructor. Gives a unit matrix. 54 // Default constructor. Gives a unit matrix.
50 55
51 inline HepRotation(const HepRotation & m); << 56 inline HepRotation(const HepRotation & m);
52 inline HepRotation(HepRotation && m) = defau << 57 // Copy constructor.
53 // Copy and move constructors. <<
54 58
55 inline HepRotation(const HepRotationX & m); 59 inline HepRotation(const HepRotationX & m);
56 inline HepRotation(const HepRotationY & m); 60 inline HepRotation(const HepRotationY & m);
57 inline HepRotation(const HepRotationZ & m); 61 inline HepRotation(const HepRotationZ & m);
58 // Construct from specialized rotation. 62 // Construct from specialized rotation.
59 63
60 HepRotation & set( const Hep3Vector & axis, 64 HepRotation & set( const Hep3Vector & axis, double delta );
61 HepRotation ( const Hep3Vector & axis, 65 HepRotation ( const Hep3Vector & axis, double delta );
62 // Construct from axis and angle. 66 // Construct from axis and angle.
63 67
64 HepRotation & set( const HepAxisAngle & ax ) 68 HepRotation & set( const HepAxisAngle & ax );
65 HepRotation ( const HepAxisAngle & ax ) 69 HepRotation ( const HepAxisAngle & ax );
66 // Construct from AxisAngle structure. 70 // Construct from AxisAngle structure.
67 71
68 HepRotation & set( double phi, double theta, 72 HepRotation & set( double phi, double theta, double psi );
69 HepRotation ( double phi, double theta, 73 HepRotation ( double phi, double theta, double psi );
70 // Construct from three Euler angles (in rad 74 // Construct from three Euler angles (in radians).
71 75
72 HepRotation & set( const HepEulerAngles & e 76 HepRotation & set( const HepEulerAngles & e );
73 HepRotation ( const HepEulerAngles & e 77 HepRotation ( const HepEulerAngles & e );
74 // Construct from EulerAngles structure. 78 // Construct from EulerAngles structure.
75 79
76 HepRotation ( const Hep3Vector & colX, 80 HepRotation ( const Hep3Vector & colX,
77 const Hep3Vector & colY, 81 const Hep3Vector & colY,
78 const Hep3Vector & colZ ); 82 const Hep3Vector & colZ );
79 // Construct from three *orthogonal* unit ve 83 // Construct from three *orthogonal* unit vector columns.
80 // NOTE: 84 // NOTE:
81 // This constructor, and the two set 85 // This constructor, and the two set methods below,
82 // will check that the columns (or rows) f 86 // will check that the columns (or rows) form an orthonormal
83 // matrix, and will adjust values so that 87 // matrix, and will adjust values so that this relation is
84 // as exact as possible. 88 // as exact as possible.
85 89
86 HepRotation & set( const Hep3Vector & colX, 90 HepRotation & set( const Hep3Vector & colX,
87 const Hep3Vector 91 const Hep3Vector & colY,
88 const Hep3Vector 92 const Hep3Vector & colZ );
89 // supply three *orthogonal* unit vectors 93 // supply three *orthogonal* unit vectors for the columns.
90 94
91 HepRotation & setRows( const Hep3Vector & ro 95 HepRotation & setRows( const Hep3Vector & rowX,
92 const Hep3Vec 96 const Hep3Vector & rowY,
93 const Hep3Vec 97 const Hep3Vector & rowZ );
94 // supply three *orthogonal* unit vectors 98 // supply three *orthogonal* unit vectors for the rows.
95 99
96 inline HepRotation & set(const HepRotationX 100 inline HepRotation & set(const HepRotationX & r);
97 inline HepRotation & set(const HepRotationY 101 inline HepRotation & set(const HepRotationY & r);
98 inline HepRotation & set(const HepRotationZ 102 inline HepRotation & set(const HepRotationZ & r);
99 // set from specialized rotation. 103 // set from specialized rotation.
100 104
101 inline HepRotation & operator = (const HepR 105 inline HepRotation & operator = (const HepRotation & r);
102 inline HepRotation & operator = (HepRotatio << 106 // Assignment.
103 // Copy and move assignment operators. <<
104 107
105 inline HepRotation & operator = (const HepR 108 inline HepRotation & operator = (const HepRotationX & r);
106 inline HepRotation & operator = (const HepR 109 inline HepRotation & operator = (const HepRotationY & r);
107 inline HepRotation & operator = (const HepR 110 inline HepRotation & operator = (const HepRotationZ & r);
108 // Assignment from specialized rotation. 111 // Assignment from specialized rotation.
109 112
110 inline HepRotation &set( const HepRep3x3 & m 113 inline HepRotation &set( const HepRep3x3 & m );
111 inline HepRotation ( const HepRep3x3 & m 114 inline HepRotation ( const HepRep3x3 & m );
112 // WARNING - NO CHECKING IS DONE! 115 // WARNING - NO CHECKING IS DONE!
113 // Constructon directly from from a 3x3 repr 116 // Constructon directly from from a 3x3 representation,
114 // which is required to be an orthogonal mat 117 // which is required to be an orthogonal matrix.
115 118
116 inline ~HepRotation(); 119 inline ~HepRotation();
117 // Trivial destructor. 120 // Trivial destructor.
118 121
119 // ---------- Accessors: 122 // ---------- Accessors:
120 123
121 inline Hep3Vector colX() const; 124 inline Hep3Vector colX() const;
122 inline Hep3Vector colY() const; 125 inline Hep3Vector colY() const;
123 inline Hep3Vector colZ() const; 126 inline Hep3Vector colZ() const;
124 // orthogonal unit-length column vectors 127 // orthogonal unit-length column vectors
125 128
126 inline Hep3Vector rowX() const; 129 inline Hep3Vector rowX() const;
127 inline Hep3Vector rowY() const; 130 inline Hep3Vector rowY() const;
128 inline Hep3Vector rowZ() const; 131 inline Hep3Vector rowZ() const;
129 // orthogonal unit-length row vectors 132 // orthogonal unit-length row vectors
130 133
131 inline double xx() const; 134 inline double xx() const;
132 inline double xy() const; 135 inline double xy() const;
133 inline double xz() const; 136 inline double xz() const;
134 inline double yx() const; 137 inline double yx() const;
135 inline double yy() const; 138 inline double yy() const;
136 inline double yz() const; 139 inline double yz() const;
137 inline double zx() const; 140 inline double zx() const;
138 inline double zy() const; 141 inline double zy() const;
139 inline double zz() const; 142 inline double zz() const;
140 // Elements of the rotation matrix (Geant4). 143 // Elements of the rotation matrix (Geant4).
141 144
142 inline HepRep3x3 rep3x3() const; 145 inline HepRep3x3 rep3x3() const;
143 // 3x3 representation: 146 // 3x3 representation:
144 147
145 // ------------ Subscripting: 148 // ------------ Subscripting:
146 149
147 class HepRotation_row { 150 class HepRotation_row {
148 public: 151 public:
149 inline HepRotation_row(const HepRotation & 152 inline HepRotation_row(const HepRotation &, int);
150 inline double operator [] (int) const; 153 inline double operator [] (int) const;
151 private: 154 private:
152 const HepRotation & rr; 155 const HepRotation & rr;
153 int ii; 156 int ii;
154 }; 157 };
155 // Helper class for implemention of C-style 158 // Helper class for implemention of C-style subscripting r[i][j]
156 159
157 inline const HepRotation_row operator [] (in 160 inline const HepRotation_row operator [] (int) const;
158 // Returns object of the helper class for C- 161 // Returns object of the helper class for C-style subscripting r[i][j]
159 // i and j range from 0 to 2. 162 // i and j range from 0 to 2.
160 163
161 double operator () (int, int) const; 164 double operator () (int, int) const;
162 // Fortran-style subscripting: returns (i,j) 165 // Fortran-style subscripting: returns (i,j) element of the rotation matrix.
163 // Note: i and j still range from 0 to 2. 166 // Note: i and j still range from 0 to 2. [Rotation.cc]
164 167
165 // ------------ Euler angles: 168 // ------------ Euler angles:
166 inline double getPhi () const; 169 inline double getPhi () const;
167 inline double getTheta() const; 170 inline double getTheta() const;
168 inline double getPsi () const; 171 inline double getPsi () const;
169 double phi () const; 172 double phi () const;
170 double theta() const; 173 double theta() const;
171 double psi () const; 174 double psi () const;
172 HepEulerAngles eulerAngles() const; 175 HepEulerAngles eulerAngles() const;
173 176
174 // ------------ axis & angle of rotation: 177 // ------------ axis & angle of rotation:
175 inline double getDelta() const; 178 inline double getDelta() const;
176 inline Hep3Vector getAxis () const; 179 inline Hep3Vector getAxis () const;
177 double delta() const; 180 double delta() const;
178 Hep3Vector axis () const; 181 Hep3Vector axis () const;
179 HepAxisAngle axisAngle() const; 182 HepAxisAngle axisAngle() const;
180 void getAngleAxis(double & delta, Hep3Vector 183 void getAngleAxis(double & delta, Hep3Vector & axis) const;
181 // Returns the rotation angle and rotation a 184 // Returns the rotation angle and rotation axis (Geant4). [Rotation.cc]
182 185
183 // ------------- Angles of rotated axes 186 // ------------- Angles of rotated axes
184 double phiX() const; 187 double phiX() const;
185 double phiY() const; 188 double phiY() const;
186 double phiZ() const; 189 double phiZ() const;
187 double thetaX() const; 190 double thetaX() const;
188 double thetaY() const; 191 double thetaY() const;
189 double thetaZ() const; 192 double thetaZ() const;
190 // Return angles (RADS) made by rotated axes 193 // Return angles (RADS) made by rotated axes against original axes (Geant4).
191 // [Rotation.cc] 194 // [Rotation.cc]
192 195
193 // ---------- Other accessors treating pure 196 // ---------- Other accessors treating pure rotation as a 4-rotation
194 197
195 inline HepLorentzVector col1() const; 198 inline HepLorentzVector col1() const;
196 inline HepLorentzVector col2() const; 199 inline HepLorentzVector col2() const;
197 inline HepLorentzVector col3() const; 200 inline HepLorentzVector col3() const;
198 // orthosymplectic 4-vector columns - T com 201 // orthosymplectic 4-vector columns - T component will be zero
199 202
200 inline HepLorentzVector col4() const; 203 inline HepLorentzVector col4() const;
201 // Will be (0,0,0,1) for this pure Rotation. 204 // Will be (0,0,0,1) for this pure Rotation.
202 205
203 inline HepLorentzVector row1() const; 206 inline HepLorentzVector row1() const;
204 inline HepLorentzVector row2() const; 207 inline HepLorentzVector row2() const;
205 inline HepLorentzVector row3() const; 208 inline HepLorentzVector row3() const;
206 // orthosymplectic 4-vector rows - T compon 209 // orthosymplectic 4-vector rows - T component will be zero
207 210
208 inline HepLorentzVector row4() const; 211 inline HepLorentzVector row4() const;
209 // Will be (0,0,0,1) for this pure Rotation. 212 // Will be (0,0,0,1) for this pure Rotation.
210 213
211 inline double xt() const; 214 inline double xt() const;
212 inline double yt() const; 215 inline double yt() const;
213 inline double zt() const; 216 inline double zt() const;
214 inline double tx() const; 217 inline double tx() const;
215 inline double ty() const; 218 inline double ty() const;
216 inline double tz() const; 219 inline double tz() const;
217 // Will be zero for this pure Rotation 220 // Will be zero for this pure Rotation
218 221
219 inline double tt() const; 222 inline double tt() const;
220 // Will be one for this pure Rotation 223 // Will be one for this pure Rotation
221 224
222 inline HepRep4x4 rep4x4() const; 225 inline HepRep4x4 rep4x4() const;
223 // 4x4 representation. 226 // 4x4 representation.
224 227
225 // --------- Mutators 228 // --------- Mutators
226 229
227 void setPhi (double phi); 230 void setPhi (double phi);
228 // change Euler angle phi, leaving theta and 231 // change Euler angle phi, leaving theta and psi unchanged.
229 232
230 void setTheta (double theta); 233 void setTheta (double theta);
231 // change Euler angle theta, leaving phi and 234 // change Euler angle theta, leaving phi and psi unchanged.
232 235
233 void setPsi (double psi); 236 void setPsi (double psi);
234 // change Euler angle psi, leaving theta and 237 // change Euler angle psi, leaving theta and phi unchanged.
235 238
236 void setAxis (const Hep3Vector & axis); 239 void setAxis (const Hep3Vector & axis);
237 // change rotation axis, leaving delta uncha 240 // change rotation axis, leaving delta unchanged.
238 241
239 void setDelta (double delta); 242 void setDelta (double delta);
240 // change angle of rotation, leaving rotatio 243 // change angle of rotation, leaving rotation axis unchanged.
241 244
242 // ---------- Decomposition: 245 // ---------- Decomposition:
243 246
244 void decompose (HepAxisAngle & rotation, Hep 247 void decompose (HepAxisAngle & rotation, Hep3Vector & boost) const;
245 void decompose (Hep3Vector & boost, HepAxisA 248 void decompose (Hep3Vector & boost, HepAxisAngle & rotation) const;
246 // These are trivial, as the boost vector is 249 // These are trivial, as the boost vector is 0. [RotationP.cc]
247 250
248 // ---------- Comparisons: 251 // ---------- Comparisons:
249 252
250 bool isIdentity() const; 253 bool isIdentity() const;
251 // Returns true if the identity matrix (Gean 254 // Returns true if the identity matrix (Geant4). [Rotation.cc]
252 255
253 int compare( const HepRotation & r ) const; 256 int compare( const HepRotation & r ) const;
254 // Dictionary-order comparison, in order zz, 257 // Dictionary-order comparison, in order zz, zy, zx, yz, ... xx
255 // Used in operator<, >, <=, >= 258 // Used in operator<, >, <=, >=
256 259
257 inline bool operator== ( const HepRotation & 260 inline bool operator== ( const HepRotation & r ) const;
258 inline bool operator!= ( const HepRotation & 261 inline bool operator!= ( const HepRotation & r ) const;
259 inline bool operator< ( const HepRotation & 262 inline bool operator< ( const HepRotation & r ) const;
260 inline bool operator> ( const HepRotation & 263 inline bool operator> ( const HepRotation & r ) const;
261 inline bool operator<= ( const HepRotation & 264 inline bool operator<= ( const HepRotation & r ) const;
262 inline bool operator>= ( const HepRotation & 265 inline bool operator>= ( const HepRotation & r ) const;
263 266
264 double distance2( const HepRotation & r ) 267 double distance2( const HepRotation & r ) const;
265 // 3 - Tr ( this/r ) -- This works with Rota 268 // 3 - Tr ( this/r ) -- This works with RotationX, Y or Z also
266 269
267 double howNear( const HepRotation & r ) cons 270 double howNear( const HepRotation & r ) const;
268 bool isNear( const HepRotation & r, 271 bool isNear( const HepRotation & r,
269 double epsilon=Hep4RotationInterf 272 double epsilon=Hep4RotationInterface::tolerance) const;
270 273
271 double distance2( const HepBoost & 274 double distance2( const HepBoost & lt ) const;
272 // 3 - Tr ( this ) + |b|^2 / (1-|b|^2) 275 // 3 - Tr ( this ) + |b|^2 / (1-|b|^2)
273 double distance2( const HepLorentzRotation & 276 double distance2( const HepLorentzRotation & lt ) const;
274 // 3 - Tr ( this/r ) + |b|^2 / (1-|b|^2) whe 277 // 3 - Tr ( this/r ) + |b|^2 / (1-|b|^2) where b is the boost vector of lt
275 278
276 double howNear( const HepBoost & l 279 double howNear( const HepBoost & lt ) const;
277 double howNear( const HepLorentzRotation & l 280 double howNear( const HepLorentzRotation & lt ) const;
278 bool isNear( const HepBoost & lt, 281 bool isNear( const HepBoost & lt,
279 double epsilon=Hep4RotationInterf 282 double epsilon=Hep4RotationInterface::tolerance) const;
280 bool isNear( const HepLorentzRotation & lt, 283 bool isNear( const HepLorentzRotation & lt,
281 double epsilon=Hep4RotationInterf 284 double epsilon=Hep4RotationInterface::tolerance) const;
282 285
283 // ---------- Properties: 286 // ---------- Properties:
284 287
285 double norm2() const; 288 double norm2() const;
286 // distance2 (IDENTITY), which is 3 - Tr ( * 289 // distance2 (IDENTITY), which is 3 - Tr ( *this )
287 290
288 void rectify(); 291 void rectify();
289 // non-const but logically moot correction f 292 // non-const but logically moot correction for accumulated roundoff errors
290 // rectify averages the matrix with the tran 293 // rectify averages the matrix with the transpose of its actual
291 // inverse (absent accumulated roundoff erro 294 // inverse (absent accumulated roundoff errors, the transpose IS
292 // the inverse)); this removes to first orde 295 // the inverse)); this removes to first order those errors.
293 // Then it formally extracts axis and delta, 296 // Then it formally extracts axis and delta, and forms a true
294 // HepRotation with those values of axis and 297 // HepRotation with those values of axis and delta.
295 298
296 // ---------- Application: 299 // ---------- Application:
297 300
298 inline Hep3Vector operator() (const Hep3Vect 301 inline Hep3Vector operator() (const Hep3Vector & p) const;
299 // Rotate a Hep3Vector. 302 // Rotate a Hep3Vector.
300 303
301 inline Hep3Vector operator * (const Hep3Vec 304 inline Hep3Vector operator * (const Hep3Vector & p) const;
302 // Multiplication with a Hep3Vector. 305 // Multiplication with a Hep3Vector.
303 306
304 inline HepLorentzVector operator()( const He 307 inline HepLorentzVector operator()( const HepLorentzVector & w ) const;
305 // Rotate (the space part of) a HepLorentzVe 308 // Rotate (the space part of) a HepLorentzVector.
306 309
307 inline HepLorentzVector operator* ( const H 310 inline HepLorentzVector operator* ( const HepLorentzVector & w ) const;
308 // Multiplication with a HepLorentzVector. 311 // Multiplication with a HepLorentzVector.
309 312
310 // ---------- Operations in the group of Rot 313 // ---------- Operations in the group of Rotations
311 314
312 inline HepRotation operator * (const HepRota 315 inline HepRotation operator * (const HepRotation & r) const;
313 // Product of two rotations (this) * r - mat 316 // Product of two rotations (this) * r - matrix multiplication
314 317
315 inline HepRotation operator * (const HepRota 318 inline HepRotation operator * (const HepRotationX & rx) const;
316 inline HepRotation operator * (const HepRota 319 inline HepRotation operator * (const HepRotationY & ry) const;
317 inline HepRotation operator * (const HepRota 320 inline HepRotation operator * (const HepRotationZ & rz) const;
318 // Product of two rotations (this) * r - fas 321 // Product of two rotations (this) * r - faster when specialized type
319 322
320 inline HepRotation & operator *= (const Hep 323 inline HepRotation & operator *= (const HepRotation & r);
321 inline HepRotation & transform (const Hep 324 inline HepRotation & transform (const HepRotation & r);
322 // Matrix multiplication. 325 // Matrix multiplication.
323 // Note a *= b; <=> a = a * b; while a.trans 326 // Note a *= b; <=> a = a * b; while a.transform(b); <=> a = b * a;
324 327
325 inline HepRotation & operator *= (const Hep 328 inline HepRotation & operator *= (const HepRotationX & r);
326 inline HepRotation & operator *= (const Hep 329 inline HepRotation & operator *= (const HepRotationY & r);
327 inline HepRotation & operator *= (const Hep 330 inline HepRotation & operator *= (const HepRotationZ & r);
328 inline HepRotation & transform (const Hep 331 inline HepRotation & transform (const HepRotationX & r);
329 inline HepRotation & transform (const Hep 332 inline HepRotation & transform (const HepRotationY & r);
330 inline HepRotation & transform (const Hep 333 inline HepRotation & transform (const HepRotationZ & r);
331 // Matrix multiplication by specialized matr 334 // Matrix multiplication by specialized matrices
332 335
333 HepRotation & rotateX(double delta); 336 HepRotation & rotateX(double delta);
334 // Rotation around the x-axis; equivalent to 337 // Rotation around the x-axis; equivalent to R = RotationX(delta) * R
335 338
336 HepRotation & rotateY(double delta); 339 HepRotation & rotateY(double delta);
337 // Rotation around the y-axis; equivalent to 340 // Rotation around the y-axis; equivalent to R = RotationY(delta) * R
338 341
339 HepRotation & rotateZ(double delta); 342 HepRotation & rotateZ(double delta);
340 // Rotation around the z-axis; equivalent to 343 // Rotation around the z-axis; equivalent to R = RotationZ(delta) * R
341 344
342 HepRotation & rotate(double delta, co 345 HepRotation & rotate(double delta, const Hep3Vector & axis);
343 inline HepRotation & rotate(double delta, co 346 inline HepRotation & rotate(double delta, const Hep3Vector * axis);
344 // Rotation around a specified vector. 347 // Rotation around a specified vector.
345 // r.rotate(d,a) is equivalent to r = Rotati 348 // r.rotate(d,a) is equivalent to r = Rotation(d,a) * r
346 349
347 HepRotation & rotateAxes(const Hep3Vector & 350 HepRotation & rotateAxes(const Hep3Vector & newX,
348 const Hep3Vector & 351 const Hep3Vector & newY,
349 const Hep3Vector & 352 const Hep3Vector & newZ);
350 // Rotation of local axes defined by 3 ortho 353 // Rotation of local axes defined by 3 orthonormal vectors (Geant4).
351 // Equivalent to r = Rotation (newX, newY, n 354 // Equivalent to r = Rotation (newX, newY, newZ) * r
352 355
353 inline HepRotation inverse() const; 356 inline HepRotation inverse() const;
354 // Returns the inverse. 357 // Returns the inverse.
355 358
356 inline HepRotation & invert(); 359 inline HepRotation & invert();
357 // Inverts the Rotation matrix. 360 // Inverts the Rotation matrix.
358 361
359 // ---------- I/O: 362 // ---------- I/O:
360 363
361 std::ostream & print( std::ostream & os ) co 364 std::ostream & print( std::ostream & os ) const;
362 // Aligned six-digit-accurate output of the 365 // Aligned six-digit-accurate output of the rotation matrix. [RotationIO.cc]
363 366
364 // ---------- Identity Rotation: 367 // ---------- Identity Rotation:
365 368
366 DLL_API static const HepRotation IDENTITY; 369 DLL_API static const HepRotation IDENTITY;
367 370
368 // ---------- Tolerance 371 // ---------- Tolerance
369 372
370 static inline double getTolerance(); 373 static inline double getTolerance();
371 static inline double setTolerance(double tol 374 static inline double setTolerance(double tol);
372 375
373 protected: 376 protected:
374 377
375 inline HepRotation(double mxx, double mxy, d 378 inline HepRotation(double mxx, double mxy, double mxz,
376 double myx, double myy, double myz, 379 double myx, double myy, double myz,
377 double mzx, double mzy, double mzz); 380 double mzx, double mzy, double mzz);
378 // Protected constructor. 381 // Protected constructor.
379 // DOES NOT CHECK FOR VALIDITY AS A ROTATION 382 // DOES NOT CHECK FOR VALIDITY AS A ROTATION.
380 383
381 friend HepRotation operator* (const HepRotat 384 friend HepRotation operator* (const HepRotationX & rx, const HepRotation & r);
382 friend HepRotation operator* (const HepRotat 385 friend HepRotation operator* (const HepRotationY & ry, const HepRotation & r);
383 friend HepRotation operator* (const HepRotat 386 friend HepRotation operator* (const HepRotationZ & rz, const HepRotation & r);
384 387
385 double rxx, rxy, rxz, 388 double rxx, rxy, rxz,
386 ryx, ryy, ryz, 389 ryx, ryy, ryz,
387 rzx, rzy, rzz; 390 rzx, rzy, rzz;
388 // The matrix elements. 391 // The matrix elements.
389 392
390 private: 393 private:
391 bool 394 bool
392 setCols ( const Hep3Vector & u1, // Vec 395 setCols ( const Hep3Vector & u1, // Vectors assume to be of unit length
393 const Hep3Vector & u2, 396 const Hep3Vector & u2,
394 const Hep3Vector & u3, 397 const Hep3Vector & u3,
395 double u1u2, 398 double u1u2,
396 Hep3Vector & v1, // Returne 399 Hep3Vector & v1, // Returned vectors
397 Hep3Vector & v2, 400 Hep3Vector & v2,
398 Hep3Vector & v3 ) const; 401 Hep3Vector & v3 ) const;
399 void setArbitrarily (const Hep3Vector & colX 402 void setArbitrarily (const Hep3Vector & colX, // assumed to be of unit length
400 Hep3Vector & v1, 403 Hep3Vector & v1,
401 Hep3Vector & v2, 404 Hep3Vector & v2,
402 Hep3Vector & v3) const; 405 Hep3Vector & v3) const;
403 }; // HepRotation 406 }; // HepRotation
404 407
405 inline 408 inline
406 std::ostream & operator << 409 std::ostream & operator <<
407 ( std::ostream & os, const HepRotation & r ) 410 ( std::ostream & os, const HepRotation & r ) {return r.print(os);}
408 411
409 } // namespace CLHEP 412 } // namespace CLHEP
410 413
411 #include "CLHEP/Vector/Rotation.icc" 414 #include "CLHEP/Vector/Rotation.icc"
412 415
413 #endif /* HEP_ROTATION_H */ 416 #endif /* HEP_ROTATION_H */
414 417
415 418