| 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 HepRotationY 8 // This is the definition of the HepRotationY 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 // HepRotationY is a concrete implementation o 11 // HepRotationY 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_ROTATIONY_H 20 #ifndef HEP_ROTATIONY_H
21 #define HEP_ROTATIONY_H 21 #define HEP_ROTATIONY_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 HepRotationY; 27 class HepRotationY;
28 class HepRotation; 28 class HepRotation;
29 class HepBoost; 29 class HepBoost;
30 30
31 inline HepRotationY inverseOf(const HepRotatio 31 inline HepRotationY inverseOf(const HepRotationY & r);
32 // Returns the inverse of a RotationY. 32 // Returns the inverse of a RotationY.
33 33
34 /** 34 /**
35 * @author 35 * @author
36 * @ingroup vector 36 * @ingroup vector
37 */ 37 */
38 class HepRotationY { 38 class HepRotationY {
39 39
40 public: 40 public:
41 41
42 // ---------- Constructors and Assignment: 42 // ---------- Constructors and Assignment:
43 43
44 inline HepRotationY(); 44 inline HepRotationY();
45 // Default constructor. Gives an identity ro 45 // Default constructor. Gives an identity rotation.
46 46
47 HepRotationY(double delta); 47 HepRotationY(double delta);
48 // supply angle of rotation 48 // supply angle of rotation
49 49
50 inline HepRotationY(const HepRotationY & ori 50 inline HepRotationY(const HepRotationY & orig);
51 inline HepRotationY(HepRotationY && orig) = 51 inline HepRotationY(HepRotationY && orig) = default;
52 // Copy and move constructors. 52 // Copy and move constructors.
53 53
54 inline HepRotationY & operator = (const HepR 54 inline HepRotationY & operator = (const HepRotationY & r);
55 inline HepRotationY & operator = (HepRotatio 55 inline HepRotationY & operator = (HepRotationY && r) = default;
56 // Copy and move assignments from a Rotation 56 // Copy and move assignments from a Rotation, which must be RotationY
57 57
58 HepRotationY & set ( double delta ); 58 HepRotationY & set ( double delta );
59 // set angle of rotation 59 // set angle of rotation
60 60
61 inline ~HepRotationY(); 61 inline ~HepRotationY();
62 // Trivial destructor. 62 // Trivial destructor.
63 63
64 // ---------- Accessors: 64 // ---------- Accessors:
65 65
66 inline Hep3Vector colX() const; 66 inline Hep3Vector colX() const;
67 inline Hep3Vector colY() const; 67 inline Hep3Vector colY() const;
68 inline Hep3Vector colZ() const; 68 inline Hep3Vector colZ() const;
69 // orthogonal unit-length column vectors 69 // orthogonal unit-length column vectors
70 70
71 inline Hep3Vector rowX() const; 71 inline Hep3Vector rowX() const;
72 inline Hep3Vector rowY() const; 72 inline Hep3Vector rowY() const;
73 inline Hep3Vector rowZ() const; 73 inline Hep3Vector rowZ() const;
74 // orthogonal unit-length row vectors 74 // orthogonal unit-length row vectors
75 75
76 inline double xx() const; 76 inline double xx() const;
77 inline double xy() const; 77 inline double xy() const;
78 inline double xz() const; 78 inline double xz() const;
79 inline double yx() const; 79 inline double yx() const;
80 inline double yy() const; 80 inline double yy() const;
81 inline double yz() const; 81 inline double yz() const;
82 inline double zx() const; 82 inline double zx() const;
83 inline double zy() const; 83 inline double zy() const;
84 inline double zz() const; 84 inline double zz() const;
85 // Elements of the rotation matrix (Geant4). 85 // Elements of the rotation matrix (Geant4).
86 86
87 inline HepRep3x3 rep3x3() const; 87 inline HepRep3x3 rep3x3() const;
88 // 3x3 representation: 88 // 3x3 representation:
89 89
90 // ------------ Euler angles: 90 // ------------ Euler angles:
91 inline double getPhi () const; 91 inline double getPhi () const;
92 inline double getTheta() const; 92 inline double getTheta() const;
93 inline double getPsi () const; 93 inline double getPsi () const;
94 double phi () const; 94 double phi () const;
95 double theta() const; 95 double theta() const;
96 double psi () const; 96 double psi () const;
97 HepEulerAngles eulerAngles() const; 97 HepEulerAngles eulerAngles() const;
98 98
99 // ------------ axis & angle of rotation: 99 // ------------ axis & angle of rotation:
100 inline double getDelta() const; 100 inline double getDelta() const;
101 inline Hep3Vector getAxis () const; 101 inline Hep3Vector getAxis () const;
102 inline double delta() const; 102 inline double delta() const;
103 inline Hep3Vector axis () const; 103 inline Hep3Vector axis () const;
104 inline HepAxisAngle axisAngle() const; 104 inline HepAxisAngle axisAngle() const;
105 inline void getAngleAxis(double & delta, He 105 inline void getAngleAxis(double & delta, Hep3Vector & axis) const;
106 // Returns the rotation angle and rotation a 106 // Returns the rotation angle and rotation axis (Geant4).
107 107
108 // ------------- Angles of rotated axes 108 // ------------- Angles of rotated axes
109 double phiX() const; 109 double phiX() const;
110 double phiY() const; 110 double phiY() const;
111 double phiZ() const; 111 double phiZ() const;
112 double thetaX() const; 112 double thetaX() const;
113 double thetaY() const; 113 double thetaY() const;
114 double thetaZ() const; 114 double thetaZ() const;
115 // Return angles (RADS) made by rotated axes 115 // Return angles (RADS) made by rotated axes against original axes (Geant4).
116 116
117 // ---------- Other accessors treating pure 117 // ---------- Other accessors treating pure rotation as a 4-rotation
118 118
119 inline HepLorentzVector col1() const; 119 inline HepLorentzVector col1() const;
120 inline HepLorentzVector col2() const; 120 inline HepLorentzVector col2() const;
121 inline HepLorentzVector col3() const; 121 inline HepLorentzVector col3() const;
122 // orthosymplectic 4-vector columns - T com 122 // orthosymplectic 4-vector columns - T component will be zero
123 123
124 inline HepLorentzVector col4() const; 124 inline HepLorentzVector col4() const;
125 // Will be (0,0,0,1) for this pure Rotation. 125 // Will be (0,0,0,1) for this pure Rotation.
126 126
127 inline HepLorentzVector row1() const; 127 inline HepLorentzVector row1() const;
128 inline HepLorentzVector row2() const; 128 inline HepLorentzVector row2() const;
129 inline HepLorentzVector row3() const; 129 inline HepLorentzVector row3() const;
130 // orthosymplectic 4-vector rows - T compon 130 // orthosymplectic 4-vector rows - T component will be zero
131 131
132 inline HepLorentzVector row4() const; 132 inline HepLorentzVector row4() const;
133 // Will be (0,0,0,1) for this pure Rotation. 133 // Will be (0,0,0,1) for this pure Rotation.
134 134
135 inline double xt() const; 135 inline double xt() const;
136 inline double yt() const; 136 inline double yt() const;
137 inline double zt() const; 137 inline double zt() const;
138 inline double tx() const; 138 inline double tx() const;
139 inline double ty() const; 139 inline double ty() const;
140 inline double tz() const; 140 inline double tz() const;
141 // Will be zero for this pure Rotation 141 // Will be zero for this pure Rotation
142 142
143 inline double tt() const; 143 inline double tt() const;
144 // Will be one for this pure Rotation 144 // Will be one for this pure Rotation
145 145
146 inline HepRep4x4 rep4x4() const; 146 inline HepRep4x4 rep4x4() const;
147 // 4x4 representation. 147 // 4x4 representation.
148 148
149 // --------- Mutators 149 // --------- Mutators
150 150
151 void setDelta (double delta); 151 void setDelta (double delta);
152 // change angle of rotation, leaving rotatio 152 // change angle of rotation, leaving rotation axis unchanged.
153 153
154 // ---------- Decomposition: 154 // ---------- Decomposition:
155 155
156 void decompose (HepAxisAngle & rotation, Hep 156 void decompose (HepAxisAngle & rotation, Hep3Vector & boost) const;
157 void decompose (Hep3Vector & boost, HepAxisA 157 void decompose (Hep3Vector & boost, HepAxisAngle & rotation) const;
158 void decompose (HepRotation & rotation, HepB 158 void decompose (HepRotation & rotation, HepBoost & boost) const;
159 void decompose (HepBoost & boost, HepRotatio 159 void decompose (HepBoost & boost, HepRotation & rotation) const;
160 // These are trivial, as the boost vector i 160 // These are trivial, as the boost vector is 0.
161 161
162 // ---------- Comparisons: 162 // ---------- Comparisons:
163 163
164 inline bool isIdentity() const; 164 inline bool isIdentity() const;
165 // Returns true if the identity matrix (Gean 165 // Returns true if the identity matrix (Geant4).
166 166
167 inline int compare( const HepRotationY & r 167 inline int compare( const HepRotationY & r ) const;
168 // Dictionary-order comparison, in order of 168 // Dictionary-order comparison, in order of delta
169 // Used in operator<, >, <=, >= 169 // Used in operator<, >, <=, >=
170 170
171 inline bool operator== ( const HepRotationY 171 inline bool operator== ( const HepRotationY & r ) const;
172 inline bool operator!= ( const HepRotationY 172 inline bool operator!= ( const HepRotationY & r ) const;
173 inline bool operator< ( const HepRotationY 173 inline bool operator< ( const HepRotationY & r ) const;
174 inline bool operator> ( const HepRotationY 174 inline bool operator> ( const HepRotationY & r ) const;
175 inline bool operator<= ( const HepRotationY 175 inline bool operator<= ( const HepRotationY & r ) const;
176 inline bool operator>= ( const HepRotationY 176 inline bool operator>= ( const HepRotationY & r ) const;
177 177
178 double distance2( const HepRotationY & r ) 178 double distance2( const HepRotationY & r ) const;
179 // 3 - Tr ( this/r ) 179 // 3 - Tr ( this/r )
180 180
181 double distance2( const HepRotation & r ) 181 double distance2( const HepRotation & r ) const;
182 // 3 - Tr ( this/r ) -- This works with Rota 182 // 3 - Tr ( this/r ) -- This works with RotationY or Z also
183 183
184 double howNear( const HepRotationY & r ) con 184 double howNear( const HepRotationY & r ) const;
185 double howNear( const HepRotation & r ) con 185 double howNear( const HepRotation & r ) const;
186 bool isNear( const HepRotationY & r, 186 bool isNear( const HepRotationY & r,
187 double epsilon=Hep4RotationInterf 187 double epsilon=Hep4RotationInterface::tolerance) const;
188 bool isNear( const HepRotation & r, 188 bool isNear( const HepRotation & r,
189 double epsilon=Hep4RotationInterf 189 double epsilon=Hep4RotationInterface::tolerance) const;
190 190
191 double distance2( const HepBoost & 191 double distance2( const HepBoost & lt ) const;
192 // 3 - Tr ( this ) + |b|^2 / (1-|b|^2) 192 // 3 - Tr ( this ) + |b|^2 / (1-|b|^2)
193 double distance2( const HepLorentzRotation & 193 double distance2( const HepLorentzRotation & lt ) const;
194 // 3 - Tr ( this/r ) + |b|^2 / (1-|b|^2) whe 194 // 3 - Tr ( this/r ) + |b|^2 / (1-|b|^2) where b is the boost vector of lt
195 195
196 double howNear( const HepBoost & l 196 double howNear( const HepBoost & lt ) const;
197 double howNear( const HepLorentzRotation & l 197 double howNear( const HepLorentzRotation & lt ) const;
198 bool isNear( const HepBoost & lt, 198 bool isNear( const HepBoost & lt,
199 double epsilon=Hep4RotationInterf 199 double epsilon=Hep4RotationInterface::tolerance) const;
200 bool isNear( const HepLorentzRotation & lt, 200 bool isNear( const HepLorentzRotation & lt,
201 double epsilon=Hep4RotationInterf 201 double epsilon=Hep4RotationInterface::tolerance) const;
202 202
203 // ---------- Properties: 203 // ---------- Properties:
204 204
205 double norm2() const; 205 double norm2() const;
206 // distance2 (IDENTITY), which is 3 - Tr ( * 206 // distance2 (IDENTITY), which is 3 - Tr ( *this )
207 207
208 inline void rectify(); 208 inline void rectify();
209 // non-const but logically moot correction f 209 // non-const but logically moot correction for accumulated roundoff errors
210 210
211 // ---------- Application: 211 // ---------- Application:
212 212
213 inline Hep3Vector operator() (const Hep3Vect 213 inline Hep3Vector operator() (const Hep3Vector & p) const;
214 // Rotate a Hep3Vector. 214 // Rotate a Hep3Vector.
215 215
216 inline Hep3Vector operator * (const Hep3Vec 216 inline Hep3Vector operator * (const Hep3Vector & p) const;
217 // Multiplication with a Hep3Vector. 217 // Multiplication with a Hep3Vector.
218 218
219 inline HepLorentzVector operator()( const He 219 inline HepLorentzVector operator()( const HepLorentzVector & w ) const;
220 // Rotate (the space part of) a HepLorentzVe 220 // Rotate (the space part of) a HepLorentzVector.
221 221
222 inline HepLorentzVector operator* ( const H 222 inline HepLorentzVector operator* ( const HepLorentzVector & w ) const;
223 // Multiplication with a HepLorentzVector. 223 // Multiplication with a HepLorentzVector.
224 224
225 // ---------- Operations in the group of Rot 225 // ---------- Operations in the group of Rotations
226 226
227 inline HepRotationY operator * (const HepRot 227 inline HepRotationY operator * (const HepRotationY & ry) const;
228 // Product of two Y rotations (this) * ry is 228 // Product of two Y rotations (this) * ry is known to be RotationY.
229 229
230 inline HepRotationY & operator *= (const He 230 inline HepRotationY & operator *= (const HepRotationY & r);
231 inline HepRotationY & transform (const He 231 inline HepRotationY & transform (const HepRotationY & r);
232 // Matrix multiplication. 232 // Matrix multiplication.
233 // Note a *= b; <=> a = a * b; while a.trans 233 // Note a *= b; <=> a = a * b; while a.transform(b); <=> a = b * a;
234 // However, in this special case, they commu 234 // However, in this special case, they commute: Both just add deltas.
235 235
236 inline HepRotationY inverse() const; 236 inline HepRotationY inverse() const;
237 // Returns the inverse. 237 // Returns the inverse.
238 238
239 friend HepRotationY inverseOf(const HepRotat 239 friend HepRotationY inverseOf(const HepRotationY & r);
240 // Returns the inverse of a RotationY. 240 // Returns the inverse of a RotationY.
241 241
242 inline HepRotationY & invert(); 242 inline HepRotationY & invert();
243 // Inverts the Rotation matrix (be negating 243 // Inverts the Rotation matrix (be negating delta).
244 244
245 // ---------- I/O: 245 // ---------- I/O:
246 246
247 std::ostream & print( std::ostream & os ) co 247 std::ostream & print( std::ostream & os ) const;
248 // Output, identifying type of rotation and 248 // Output, identifying type of rotation and delta.
249 249
250 // ---------- Tolerance 250 // ---------- Tolerance
251 251
252 static inline double getTolerance(); 252 static inline double getTolerance();
253 static inline double setTolerance(double tol 253 static inline double setTolerance(double tol);
254 254
255 protected: 255 protected:
256 256
257 double its_d; 257 double its_d;
258 // The angle of rotation. 258 // The angle of rotation.
259 259
260 double its_s; 260 double its_s;
261 double its_c; 261 double its_c;
262 // Cache the trig functions, for rapid opera 262 // Cache the trig functions, for rapid operations.
263 263
264 inline HepRotationY ( double dd, double ss, 264 inline HepRotationY ( double dd, double ss, double cc );
265 // Unchecked load-the-data-members 265 // Unchecked load-the-data-members
266 266
267 static inline double proper (double delta); 267 static inline double proper (double delta);
268 // Put an angle into the range of (-PI, PI]. 268 // Put an angle into the range of (-PI, PI]. Useful helper method.
269 269
270 }; // HepRotationY 270 }; // HepRotationY
271 271
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 HepRotationY & r 276 ( std::ostream & os, const HepRotationY & r ) {return r.print(os);}
277 277
278 } // namespace CLHEP 278 } // namespace CLHEP
279 279
280 #include "CLHEP/Vector/RotationY.icc" 280 #include "CLHEP/Vector/RotationY.icc"
281 281
282 #endif /* HEP_ROTATIONY_H */ 282 #endif /* HEP_ROTATIONY_H */
283 283
284 284