| Geant4 Cross Reference |
1 // -*- C++ -*- 1 // -*- C++ -*-
2 // CLASSDOC OFF 2 // CLASSDOC OFF
3 // ------------------------------------------- 3 // ---------------------------------------------------------------------------
4 // CLASSDOC ON 4 // CLASSDOC ON
5 // 5 //
6 // This file is a part of the CLHEP - a Class 6 // This file is a part of the CLHEP - a Class Library for High Energy Physics.
7 // 7 //
8 // This is the definition of the HepRotationX 8 // This is the definition of the HepRotationX class for performing rotations
9 // around the X axis on objects of the Hep3Vec 9 // around the X axis on objects of the Hep3Vector (and HepLorentzVector) class.
10 // 10 //
11 // HepRotationX is a concrete implementation o 11 // HepRotationX is a concrete implementation of Hep3RotationInterface.
12 // 12 //
13 // .SS See Also 13 // .SS See Also
14 // RotationInterfaces.h 14 // RotationInterfaces.h
15 // ThreeVector.h, LorentzVector.h, LorentzRota 15 // ThreeVector.h, LorentzVector.h, LorentzRotation.h
16 // 16 //
17 // .SS Author 17 // .SS Author
18 // Mark Fischler 18 // Mark Fischler
19 19
20 #ifndef HEP_ROTATIONX_H 20 #ifndef HEP_ROTATIONX_H
21 #define HEP_ROTATIONX_H 21 #define HEP_ROTATIONX_H
22 22
>> 23 #ifdef GNUPRAGMA
>> 24 #pragma interface
>> 25 #endif
>> 26
23 #include "CLHEP/Vector/RotationInterfaces.h" 27 #include "CLHEP/Vector/RotationInterfaces.h"
24 28
25 namespace CLHEP { 29 namespace CLHEP {
26 30
27 class HepRotationX; 31 class HepRotationX;
28 32
29 class HepRotation; 33 class HepRotation;
30 class HepBoost; 34 class HepBoost;
31 35
32 inline HepRotationX inverseOf(const HepRotatio 36 inline HepRotationX inverseOf(const HepRotationX & r);
33 // Returns the inverse of a RotationX. 37 // Returns the inverse of a RotationX.
34 38
35 /** 39 /**
36 * @author 40 * @author
37 * @ingroup vector 41 * @ingroup vector
38 */ 42 */
39 class HepRotationX { 43 class HepRotationX {
40 44
41 public: 45 public:
42 46
43 // ---------- Constructors and Assignment: 47 // ---------- Constructors and Assignment:
44 48
45 inline HepRotationX(); 49 inline HepRotationX();
46 // Default constructor. Gives an identity ro 50 // Default constructor. Gives an identity rotation.
47 51
48 HepRotationX(double delta); 52 HepRotationX(double delta);
49 // supply angle of rotation 53 // supply angle of rotation
50 54
51 inline HepRotationX(const HepRotationX & ori 55 inline HepRotationX(const HepRotationX & orig);
52 inline HepRotationX(HepRotationX && orig) = << 56 // Copy constructor.
53 // Copy and move constructors. <<
54 57
55 inline HepRotationX & operator = (const HepR 58 inline HepRotationX & operator = (const HepRotationX & r);
56 inline HepRotationX & operator = (HepRotatio << 59 // Assignment from a Rotation, which must be RotationX
57 // Copy and move assignments from a Rotation <<
58 60
59 HepRotationX & set ( double delta ); 61 HepRotationX & set ( double delta );
60 // set angle of rotation 62 // set angle of rotation
61 63
62 inline ~HepRotationX(); 64 inline ~HepRotationX();
63 // Trivial destructor. 65 // Trivial destructor.
64 66
65 // ---------- Accessors: 67 // ---------- Accessors:
66 68
67 inline Hep3Vector colX() const; 69 inline Hep3Vector colX() const;
68 inline Hep3Vector colY() const; 70 inline Hep3Vector colY() const;
69 inline Hep3Vector colZ() const; 71 inline Hep3Vector colZ() const;
70 // orthogonal unit-length column vectors 72 // orthogonal unit-length column vectors
71 73
72 inline Hep3Vector rowX() const; 74 inline Hep3Vector rowX() const;
73 inline Hep3Vector rowY() const; 75 inline Hep3Vector rowY() const;
74 inline Hep3Vector rowZ() const; 76 inline Hep3Vector rowZ() const;
75 // orthogonal unit-length row vectors 77 // orthogonal unit-length row vectors
76 78
77 inline double xx() const; 79 inline double xx() const;
78 inline double xy() const; 80 inline double xy() const;
79 inline double xz() const; 81 inline double xz() const;
80 inline double yx() const; 82 inline double yx() const;
81 inline double yy() const; 83 inline double yy() const;
82 inline double yz() const; 84 inline double yz() const;
83 inline double zx() const; 85 inline double zx() const;
84 inline double zy() const; 86 inline double zy() const;
85 inline double zz() const; 87 inline double zz() const;
86 // Elements of the rotation matrix (Geant4). 88 // Elements of the rotation matrix (Geant4).
87 89
88 inline HepRep3x3 rep3x3() const; 90 inline HepRep3x3 rep3x3() const;
89 // 3x3 representation: 91 // 3x3 representation:
90 92
91 // ------------ Euler angles: 93 // ------------ Euler angles:
92 inline double getPhi () const; 94 inline double getPhi () const;
93 inline double getTheta() const; 95 inline double getTheta() const;
94 inline double getPsi () const; 96 inline double getPsi () const;
95 double phi () const; 97 double phi () const;
96 double theta() const; 98 double theta() const;
97 double psi () const; 99 double psi () const;
98 HepEulerAngles eulerAngles() const; 100 HepEulerAngles eulerAngles() const;
99 101
100 // ------------ axis & angle of rotation: 102 // ------------ axis & angle of rotation:
101 inline double getDelta() const; 103 inline double getDelta() const;
102 inline Hep3Vector getAxis () const; 104 inline Hep3Vector getAxis () const;
103 inline double delta() const; 105 inline double delta() const;
104 inline Hep3Vector axis () const; 106 inline Hep3Vector axis () const;
105 inline HepAxisAngle axisAngle() const; 107 inline HepAxisAngle axisAngle() const;
106 inline void getAngleAxis(double & delta, He 108 inline void getAngleAxis(double & delta, Hep3Vector & axis) const;
107 // Returns the rotation angle and rotation a 109 // Returns the rotation angle and rotation axis (Geant4).
108 110
109 // ------------- Angles of rotated axes 111 // ------------- Angles of rotated axes
110 double phiX() const; 112 double phiX() const;
111 double phiY() const; 113 double phiY() const;
112 double phiZ() const; 114 double phiZ() const;
113 double thetaX() const; 115 double thetaX() const;
114 double thetaY() const; 116 double thetaY() const;
115 double thetaZ() const; 117 double thetaZ() const;
116 // Return angles (RADS) made by rotated axes 118 // Return angles (RADS) made by rotated axes against original axes (Geant4).
117 119
118 // ---------- Other accessors treating pure 120 // ---------- Other accessors treating pure rotation as a 4-rotation
119 121
120 inline HepLorentzVector col1() const; 122 inline HepLorentzVector col1() const;
121 inline HepLorentzVector col2() const; 123 inline HepLorentzVector col2() const;
122 inline HepLorentzVector col3() const; 124 inline HepLorentzVector col3() const;
123 // orthosymplectic 4-vector columns - T com 125 // orthosymplectic 4-vector columns - T component will be zero
124 126
125 inline HepLorentzVector col4() const; 127 inline HepLorentzVector col4() const;
126 // Will be (0,0,0,1) for this pure Rotation. 128 // Will be (0,0,0,1) for this pure Rotation.
127 129
128 inline HepLorentzVector row1() const; 130 inline HepLorentzVector row1() const;
129 inline HepLorentzVector row2() const; 131 inline HepLorentzVector row2() const;
130 inline HepLorentzVector row3() const; 132 inline HepLorentzVector row3() const;
131 // orthosymplectic 4-vector rows - T compon 133 // orthosymplectic 4-vector rows - T component will be zero
132 134
133 inline HepLorentzVector row4() const; 135 inline HepLorentzVector row4() const;
134 // Will be (0,0,0,1) for this pure Rotation. 136 // Will be (0,0,0,1) for this pure Rotation.
135 137
136 inline double xt() const; 138 inline double xt() const;
137 inline double yt() const; 139 inline double yt() const;
138 inline double zt() const; 140 inline double zt() const;
139 inline double tx() const; 141 inline double tx() const;
140 inline double ty() const; 142 inline double ty() const;
141 inline double tz() const; 143 inline double tz() const;
142 // Will be zero for this pure Rotation 144 // Will be zero for this pure Rotation
143 145
144 inline double tt() const; 146 inline double tt() const;
145 // Will be one for this pure Rotation 147 // Will be one for this pure Rotation
146 148
147 inline HepRep4x4 rep4x4() const; 149 inline HepRep4x4 rep4x4() const;
148 // 4x4 representation. 150 // 4x4 representation.
149 151
150 // --------- Mutators 152 // --------- Mutators
151 153
152 void setDelta (double delta); 154 void setDelta (double delta);
153 // change angle of rotation, leaving rotatio 155 // change angle of rotation, leaving rotation axis unchanged.
154 156
155 // ---------- Decomposition: 157 // ---------- Decomposition:
156 158
157 void decompose (HepAxisAngle & rotation, Hep 159 void decompose (HepAxisAngle & rotation, Hep3Vector & boost) const;
158 void decompose (Hep3Vector & boost, HepAxisA 160 void decompose (Hep3Vector & boost, HepAxisAngle & rotation) const;
159 void decompose (HepRotation & rotation, HepB 161 void decompose (HepRotation & rotation, HepBoost & boost) const;
160 void decompose (HepBoost & boost, HepRotatio 162 void decompose (HepBoost & boost, HepRotation & rotation) const;
161 // These are trivial, as the boost vector is 163 // These are trivial, as the boost vector is 0.
162 164
163 // ---------- Comparisons: 165 // ---------- Comparisons:
164 166
165 inline bool isIdentity() const; 167 inline bool isIdentity() const;
166 // Returns true if the identity matrix (Gean 168 // Returns true if the identity matrix (Geant4).
167 169
168 inline int compare( const HepRotationX & r 170 inline int compare( const HepRotationX & r ) const;
169 // Dictionary-order comparison, in order of 171 // Dictionary-order comparison, in order of delta
170 // Used in operator<, >, <=, >= 172 // Used in operator<, >, <=, >=
171 173
172 inline bool operator== ( const HepRotationX 174 inline bool operator== ( const HepRotationX & r ) const;
173 inline bool operator!= ( const HepRotationX 175 inline bool operator!= ( const HepRotationX & r ) const;
174 inline bool operator< ( const HepRotationX 176 inline bool operator< ( const HepRotationX & r ) const;
175 inline bool operator> ( const HepRotationX 177 inline bool operator> ( const HepRotationX & r ) const;
176 inline bool operator<= ( const HepRotationX 178 inline bool operator<= ( const HepRotationX & r ) const;
177 inline bool operator>= ( const HepRotationX 179 inline bool operator>= ( const HepRotationX & r ) const;
178 180
179 double distance2( const HepRotationX & r ) 181 double distance2( const HepRotationX & r ) const;
180 // 3 - Tr ( this/r ) 182 // 3 - Tr ( this/r )
181 183
182 double distance2( const HepRotation & r ) 184 double distance2( const HepRotation & r ) const;
183 // 3 - Tr ( this/r ) -- This works with Rota 185 // 3 - Tr ( this/r ) -- This works with RotationY or Z also
184 186
185 double howNear( const HepRotationX & r ) con 187 double howNear( const HepRotationX & r ) const;
186 double howNear( const HepRotation & r ) con 188 double howNear( const HepRotation & r ) const;
187 bool isNear( const HepRotationX & r, 189 bool isNear( const HepRotationX & r,
188 double epsilon=Hep4RotationInte 190 double epsilon=Hep4RotationInterface::tolerance) const;
189 bool isNear( const HepRotation & r, 191 bool isNear( const HepRotation & r,
190 double epsilon=Hep4RotationInte 192 double epsilon=Hep4RotationInterface::tolerance) const;
191 193
192 double distance2( const HepBoost & 194 double distance2( const HepBoost & lt ) const;
193 // 3 - Tr ( this ) + |b|^2 / (1-|b|^2) 195 // 3 - Tr ( this ) + |b|^2 / (1-|b|^2)
194 double distance2( const HepLorentzRotation & 196 double distance2( const HepLorentzRotation & lt ) const;
195 // 3 - Tr ( this/r ) + |b|^2 / (1-|b|^2) whe 197 // 3 - Tr ( this/r ) + |b|^2 / (1-|b|^2) where b is the boost vector of lt
196 198
197 double howNear( const HepBoost & l 199 double howNear( const HepBoost & lt ) const;
198 double howNear( const HepLorentzRotation & l 200 double howNear( const HepLorentzRotation & lt ) const;
199 bool isNear( const HepBoost & lt, 201 bool isNear( const HepBoost & lt,
200 double epsilon=Hep4RotationInte 202 double epsilon=Hep4RotationInterface::tolerance) const;
201 bool isNear( const HepLorentzRotation & lt, 203 bool isNear( const HepLorentzRotation & lt,
202 double epsilon=Hep4RotationInte 204 double epsilon=Hep4RotationInterface::tolerance) const;
203 205
204 // ---------- Properties: 206 // ---------- Properties:
205 207
206 double norm2() const; 208 double norm2() const;
207 // distance2 (IDENTITY), which is 3 - Tr ( * 209 // distance2 (IDENTITY), which is 3 - Tr ( *this )
208 210
209 inline void rectify(); 211 inline void rectify();
210 // non-const but logically moot correction f 212 // non-const but logically moot correction for accumulated roundoff errors
211 213
212 // ---------- Application: 214 // ---------- Application:
213 215
214 inline Hep3Vector operator() (const Hep3Vect 216 inline Hep3Vector operator() (const Hep3Vector & p) const;
215 // Rotate a Hep3Vector. 217 // Rotate a Hep3Vector.
216 218
217 inline Hep3Vector operator * (const Hep3Vec 219 inline Hep3Vector operator * (const Hep3Vector & p) const;
218 // Multiplication with a Hep3Vector. 220 // Multiplication with a Hep3Vector.
219 221
220 inline HepLorentzVector operator()( const He 222 inline HepLorentzVector operator()( const HepLorentzVector & w ) const;
221 // Rotate (the space part of) a HepLorentzVe 223 // Rotate (the space part of) a HepLorentzVector.
222 224
223 inline HepLorentzVector operator* ( const H 225 inline HepLorentzVector operator* ( const HepLorentzVector & w ) const;
224 // Multiplication with a HepLorentzVector. 226 // Multiplication with a HepLorentzVector.
225 227
226 // ---------- Operations in the group of Rot 228 // ---------- Operations in the group of Rotations
227 229
228 inline HepRotationX operator * (const HepRot 230 inline HepRotationX operator * (const HepRotationX & rx) const;
229 // Product of two X rotations: (this) * rx i 231 // Product of two X rotations: (this) * rx is known to be RotationX.
230 232
231 inline HepRotationX & operator *= (const He 233 inline HepRotationX & operator *= (const HepRotationX & r);
232 inline HepRotationX & transform (const He 234 inline HepRotationX & transform (const HepRotationX & r);
233 // Matrix multiplication. 235 // Matrix multiplication.
234 // Note a *= b; <=> a = a * b; while a.trans 236 // Note a *= b; <=> a = a * b; while a.transform(b); <=> a = b * a;
235 // However, in this special case, they commu 237 // However, in this special case, they commute: Both just add deltas.
236 238
237 inline HepRotationX inverse() const; 239 inline HepRotationX inverse() const;
238 // Returns the inverse. 240 // Returns the inverse.
239 241
240 friend HepRotationX inverseOf(const HepRotat 242 friend HepRotationX inverseOf(const HepRotationX & r);
241 // Returns the inverse of a RotationX. 243 // Returns the inverse of a RotationX.
242 244
243 inline HepRotationX & invert(); 245 inline HepRotationX & invert();
244 // Inverts the Rotation matrix (be negating 246 // Inverts the Rotation matrix (be negating delta).
245 247
246 // ---------- I/O: 248 // ---------- I/O:
247 249
248 std::ostream & print( std::ostream & os ) co 250 std::ostream & print( std::ostream & os ) const;
249 // Output, identifying type of rotation and 251 // Output, identifying type of rotation and delta.
250 252
251 // ---------- Tolerance 253 // ---------- Tolerance
252 254
253 static inline double getTolerance(); 255 static inline double getTolerance();
254 static inline double setTolerance(double tol 256 static inline double setTolerance(double tol);
255 257
256 protected: 258 protected:
257 259
258 double its_d; 260 double its_d;
259 // The angle of rotation. 261 // The angle of rotation.
260 262
261 double its_s; 263 double its_s;
262 double its_c; 264 double its_c;
263 // Cache the trig functions, for rapid opera 265 // Cache the trig functions, for rapid operations.
264 266
265 inline HepRotationX ( double dd, double ss, 267 inline HepRotationX ( double dd, double ss, double cc );
266 // Unchecked load-the-data-members 268 // Unchecked load-the-data-members
267 269
268 static inline double proper (double delta); 270 static inline double proper (double delta);
269 // Put an angle into the range of (-PI, PI]. 271 // Put an angle into the range of (-PI, PI]. Useful helper method.
270 272
271 }; // HepRotationX 273 }; // HepRotationX
272 // ---------- Free-function operations in the 274 // ---------- Free-function operations in the group of Rotations
273 275
274 inline 276 inline
275 std::ostream & operator << 277 std::ostream & operator <<
276 ( std::ostream & os, const HepRotationX & r 278 ( std::ostream & os, const HepRotationX & r ) {return r.print(os);}
277 279
278 } // namespace CLHEP 280 } // namespace CLHEP
279 281
280 #include "CLHEP/Vector/RotationX.icc" 282 #include "CLHEP/Vector/RotationX.icc"
281 283
282 #endif /* HEP_ROTATIONX_H */ 284 #endif /* HEP_ROTATIONX_H */
283 285