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