| Geant4 Cross Reference |
1 // ------------------------------------------- 1 // ----------------------------------------------------------------------
2 // 2 //
3 // EulerAngles.cc 3 // EulerAngles.cc
4 // 4 //
5 // Methods for classes, and instances of globa 5 // Methods for classes, and instances of globals, declared in EulerAngles.h
6 // 6 //
7 // History: 7 // History:
8 // 8 //
9 // 04-Dec-1997 MF Stub with just PI 9 // 04-Dec-1997 MF Stub with just PI
10 // 12-Jan-1998 WEB PI now found in ZMutility; 10 // 12-Jan-1998 WEB PI now found in ZMutility; used ZMutility headers
11 // where available 11 // where available
12 // 16-Mar-1998 WEB Corrected ZMpvEulerAnglesR 12 // 16-Mar-1998 WEB Corrected ZMpvEulerAnglesRep
13 // 15-Jun-1998 WEB Added namespace support 13 // 15-Jun-1998 WEB Added namespace support
14 // 26-Jul-2000 MF CLHEP version 14 // 26-Jul-2000 MF CLHEP version
15 // 12-Apr-2001 MF NaN-proofing 15 // 12-Apr-2001 MF NaN-proofing
16 // 19-Nov-2001 MF Correction to ZMpvEulerA 16 // 19-Nov-2001 MF Correction to ZMpvEulerAnglesRep, which was affecting
17 // .isNear(). array[3] had been incorrec 17 // .isNear(). array[3] had been incorrect.
18 // Note - the correct form was used in al 18 // Note - the correct form was used in all other places
19 // including Rotation.set(phi, theta, psi 19 // including Rotation.set(phi, theta, psi).
20 // 20 //
21 // ------------------------------------------- 21 // ----------------------------------------------------------------------
22 22
23 23
24 #include "CLHEP/Vector/EulerAngles.h" 24 #include "CLHEP/Vector/EulerAngles.h"
25 25
26 #include "CLHEP/Vector/ThreeVector.h" 26 #include "CLHEP/Vector/ThreeVector.h"
27 27
28 #include <cmath> <<
29 #include <iostream> 28 #include <iostream>
30 29
31 namespace CLHEP { 30 namespace CLHEP {
32 31
33 //-************* 32 //-*************
34 // static consts 33 // static consts
35 //-************* 34 //-*************
36 35
37 double HepEulerAngles::tolerance = Hep3Vector: 36 double HepEulerAngles::tolerance = Hep3Vector::ToleranceTicks * 1.0e-8;
38 37
39 //-******************* 38 //-*******************
40 // measure of distance 39 // measure of distance
41 //-******************* 40 //-*******************
42 41
43 42
44 static void ZMpvEulerAnglesRep ( const HepEule 43 static void ZMpvEulerAnglesRep ( const HepEulerAngles & ex, double array[] ) {
45 44
46 double sinPhi = std::sin( ex.phi() ) , co 45 double sinPhi = std::sin( ex.phi() ) , cosPhi = std::cos( ex.phi() );
47 double sinTheta = std::sin( ex.theta() ), co 46 double sinTheta = std::sin( ex.theta() ), cosTheta = std::cos( ex.theta() );
48 double sinPsi = std::sin( ex.psi() ) , co 47 double sinPsi = std::sin( ex.psi() ) , cosPsi = std::cos( ex.psi() );
49 48
50 array[0] = cosPsi * cosPhi - sinPsi * co 49 array[0] = cosPsi * cosPhi - sinPsi * cosTheta * sinPhi;
51 array[1] = cosPsi * sinPhi + sinPsi * co 50 array[1] = cosPsi * sinPhi + sinPsi * cosTheta * cosPhi;
52 array[2] = sinPsi * sinTheta; 51 array[2] = sinPsi * sinTheta;
53 52
54 array[3] = - sinPsi * cosPhi - cosPsi * cosT 53 array[3] = - sinPsi * cosPhi - cosPsi * cosTheta * sinPhi;
55 array[4] = - sinPsi * sinPhi + cosPsi * co 54 array[4] = - sinPsi * sinPhi + cosPsi * cosTheta * cosPhi;
56 array[5] = cosPsi * sinTheta; 55 array[5] = cosPsi * sinTheta;
57 56
58 array[6] = sinTheta * sinPhi; 57 array[6] = sinTheta * sinPhi;
59 array[7] = - sinTheta * cosPhi; 58 array[7] = - sinTheta * cosPhi;
60 array[8] = cosTheta; 59 array[8] = cosTheta;
61 60
62 } // ZMpvEulerAnglesRep 61 } // ZMpvEulerAnglesRep
63 62
64 63
65 double HepEulerAngles::distance( const EA & ex 64 double HepEulerAngles::distance( const EA & ex ) const {
66 65
67 double thisRep[9]; 66 double thisRep[9];
68 double exRep[9]; 67 double exRep[9];
69 68
70 ZMpvEulerAnglesRep ( *this, thisRep ); 69 ZMpvEulerAnglesRep ( *this, thisRep );
71 ZMpvEulerAnglesRep ( ex, exRep ); 70 ZMpvEulerAnglesRep ( ex, exRep );
72 71
73 double sum = 0.0; 72 double sum = 0.0;
74 for (int i = 0; i < 9; i++) { 73 for (int i = 0; i < 9; i++) {
75 sum += thisRep[i] * exRep[i]; 74 sum += thisRep[i] * exRep[i];
76 } 75 }
77 76
78 double d = 3.0 - sum; // NaN-proofing: 77 double d = 3.0 - sum; // NaN-proofing:
79 return (d >= 0) ? d : 0; // sqrt(distance 78 return (d >= 0) ? d : 0; // sqrt(distance) is used in howNear()
80 79
81 } // HepEulerAngles::distance() 80 } // HepEulerAngles::distance()
82 81
83 82
84 bool HepEulerAngles::isNear( const EA & ex, do 83 bool HepEulerAngles::isNear( const EA & ex, double epsilon ) const {
85 84
86 return distance( ex ) <= epsilon*epsilon ; 85 return distance( ex ) <= epsilon*epsilon ;
87 86
88 } // HepEulerAngles::isNear() 87 } // HepEulerAngles::isNear()
89 88
90 89
91 double HepEulerAngles::howNear( const EA & ex 90 double HepEulerAngles::howNear( const EA & ex ) const {
92 91
93 return std::sqrt( distance( ex ) ); 92 return std::sqrt( distance( ex ) );
94 93
95 } // HepEulerAngles::howNear() 94 } // HepEulerAngles::howNear()
96 95
97 //-************** 96 //-**************
98 // Global Methods 97 // Global Methods
99 //-************** 98 //-**************
100 99
101 std::ostream & operator<<(std::ostream & os, c 100 std::ostream & operator<<(std::ostream & os, const HepEulerAngles & ea)
102 { 101 {
103 os << "(" << ea.phi() << ", " << ea.theta() 102 os << "(" << ea.phi() << ", " << ea.theta() << ", " << ea.psi() << ")";
104 return os; 103 return os;
105 } // operator<<() 104 } // operator<<()
106 105
107 void ZMinput3doubles ( std::istream & is, cons 106 void ZMinput3doubles ( std::istream & is, const char * type,
108 double & x, double & y, 107 double & x, double & y, double & z );
109 108
110 std::istream & operator>>(std::istream & is, H 109 std::istream & operator>>(std::istream & is, HepEulerAngles & ea) {
111 double thePhi; 110 double thePhi;
112 double theTheta; 111 double theTheta;
113 double thePsi; 112 double thePsi;
114 ZMinput3doubles ( is, "HepEulerAngle", thePh 113 ZMinput3doubles ( is, "HepEulerAngle", thePhi , theTheta , thePsi );
115 ea.set ( thePhi , theTheta , thePsi ); 114 ea.set ( thePhi , theTheta , thePsi );
116 return is; 115 return is;
117 } // operator>>() 116 } // operator>>()
118 117
119 } // namespace CLHEP 118 } // namespace CLHEP
120 119
121 120
122 121