CLHEP 2.0.4.7 Reference Documentation
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00001 // -*- C++ -*- 00002 // CLASSDOC OFF 00003 // --------------------------------------------------------------------------- 00004 // CLASSDOC ON 00005 // 00006 // This file is a part of the CLHEP - a Class Library for High Energy Physics. 00007 // 00008 // This is the definition of the HepRotationX class for performing rotations 00009 // around the X axis on objects of the Hep3Vector (and HepLorentzVector) class. 00010 // 00011 // HepRotationX is a concrete implementation of Hep3RotationInterface. 00012 // 00013 // .SS See Also 00014 // RotationInterfaces.h 00015 // ThreeVector.h, LorentzVector.h, LorentzRotation.h 00016 // 00017 // .SS Author 00018 // Mark Fischler 00019 00020 #ifndef HEP_ROTATIONX_H 00021 #define HEP_ROTATIONX_H 00022 00023 #ifdef GNUPRAGMA 00024 #pragma interface 00025 #endif 00026 00027 #include "CLHEP/Vector/defs.h" 00028 #include "CLHEP/Vector/RotationInterfaces.h" 00029 00030 namespace CLHEP { 00031 00032 class HepRotationX; 00033 00034 class HepRotation; 00035 class HepBoost; 00036 00037 inline HepRotationX inverseOf(const HepRotationX & r); 00038 // Returns the inverse of a RotationX. 00039 00044 class HepRotationX { 00045 00046 public: 00047 00048 // ---------- Constructors and Assignment: 00049 00050 inline HepRotationX(); 00051 // Default constructor. Gives an identity rotation. 00052 00053 HepRotationX(double delta); 00054 // supply angle of rotation 00055 00056 inline HepRotationX(const HepRotationX & orig); 00057 // Copy constructor. 00058 00059 inline HepRotationX & operator = (const HepRotationX & r); 00060 // Assignment from a Rotation, which must be RotationX 00061 00062 HepRotationX & set ( double delta ); 00063 // set angle of rotation 00064 00065 inline ~HepRotationX(); 00066 // Trivial destructor. 00067 00068 // ---------- Accessors: 00069 00070 inline Hep3Vector colX() const; 00071 inline Hep3Vector colY() const; 00072 inline Hep3Vector colZ() const; 00073 // orthogonal unit-length column vectors 00074 00075 inline Hep3Vector rowX() const; 00076 inline Hep3Vector rowY() const; 00077 inline Hep3Vector rowZ() const; 00078 // orthogonal unit-length row vectors 00079 00080 inline double xx() const; 00081 inline double xy() const; 00082 inline double xz() const; 00083 inline double yx() const; 00084 inline double yy() const; 00085 inline double yz() const; 00086 inline double zx() const; 00087 inline double zy() const; 00088 inline double zz() const; 00089 // Elements of the rotation matrix (Geant4). 00090 00091 inline HepRep3x3 rep3x3() const; 00092 // 3x3 representation: 00093 00094 // ------------ Euler angles: 00095 inline double getPhi () const; 00096 inline double getTheta() const; 00097 inline double getPsi () const; 00098 double phi () const; 00099 double theta() const; 00100 double psi () const; 00101 HepEulerAngles eulerAngles() const; 00102 00103 // ------------ axis & angle of rotation: 00104 inline double getDelta() const; 00105 inline Hep3Vector getAxis () const; 00106 inline double delta() const; 00107 inline Hep3Vector axis () const; 00108 inline HepAxisAngle axisAngle() const; 00109 inline void getAngleAxis(double & delta, Hep3Vector & axis) const; 00110 // Returns the rotation angle and rotation axis (Geant4). 00111 00112 // ------------- Angles of rotated axes 00113 double phiX() const; 00114 double phiY() const; 00115 double phiZ() const; 00116 double thetaX() const; 00117 double thetaY() const; 00118 double thetaZ() const; 00119 // Return angles (RADS) made by rotated axes against original axes (Geant4). 00120 00121 // ---------- Other accessors treating pure rotation as a 4-rotation 00122 00123 inline HepLorentzVector col1() const; 00124 inline HepLorentzVector col2() const; 00125 inline HepLorentzVector col3() const; 00126 // orthosymplectic 4-vector columns - T component will be zero 00127 00128 inline HepLorentzVector col4() const; 00129 // Will be (0,0,0,1) for this pure Rotation. 00130 00131 inline HepLorentzVector row1() const; 00132 inline HepLorentzVector row2() const; 00133 inline HepLorentzVector row3() const; 00134 // orthosymplectic 4-vector rows - T component will be zero 00135 00136 inline HepLorentzVector row4() const; 00137 // Will be (0,0,0,1) for this pure Rotation. 00138 00139 inline double xt() const; 00140 inline double yt() const; 00141 inline double zt() const; 00142 inline double tx() const; 00143 inline double ty() const; 00144 inline double tz() const; 00145 // Will be zero for this pure Rotation 00146 00147 inline double tt() const; 00148 // Will be one for this pure Rotation 00149 00150 inline HepRep4x4 rep4x4() const; 00151 // 4x4 representation. 00152 00153 // --------- Mutators 00154 00155 void setDelta (double delta); 00156 // change angle of rotation, leaving rotation axis unchanged. 00157 00158 // ---------- Decomposition: 00159 00160 void decompose (HepAxisAngle & rotation, Hep3Vector & boost) const; 00161 void decompose (Hep3Vector & boost, HepAxisAngle & rotation) const; 00162 void decompose (HepRotation & rotation, HepBoost & boost) const; 00163 void decompose (HepBoost & boost, HepRotation & rotation) const; 00164 // These are trivial, as the boost vector is 0. 00165 00166 // ---------- Comparisons: 00167 00168 inline bool isIdentity() const; 00169 // Returns true if the identity matrix (Geant4). 00170 00171 inline int compare( const HepRotationX & r ) const; 00172 // Dictionary-order comparison, in order of delta 00173 // Used in operator<, >, <=, >= 00174 00175 inline bool operator== ( const HepRotationX & r ) const; 00176 inline bool operator!= ( const HepRotationX & r ) const; 00177 inline bool operator< ( const HepRotationX & r ) const; 00178 inline bool operator> ( const HepRotationX & r ) const; 00179 inline bool operator<= ( const HepRotationX & r ) const; 00180 inline bool operator>= ( const HepRotationX & r ) const; 00181 00182 double distance2( const HepRotationX & r ) const; 00183 // 3 - Tr ( this/r ) 00184 00185 double distance2( const HepRotation & r ) const; 00186 // 3 - Tr ( this/r ) -- This works with RotationY or Z also 00187 00188 double howNear( const HepRotationX & r ) const; 00189 double howNear( const HepRotation & r ) const; 00190 bool isNear( const HepRotationX & r, 00191 double epsilon=Hep4RotationInterface::tolerance) const; 00192 bool isNear( const HepRotation & r, 00193 double epsilon=Hep4RotationInterface::tolerance) const; 00194 00195 double distance2( const HepBoost & lt ) const; 00196 // 3 - Tr ( this ) + |b|^2 / (1-|b|^2) 00197 double distance2( const HepLorentzRotation & lt ) const; 00198 // 3 - Tr ( this/r ) + |b|^2 / (1-|b|^2) where b is the boost vector of lt 00199 00200 double howNear( const HepBoost & lt ) const; 00201 double howNear( const HepLorentzRotation & lt ) const; 00202 bool isNear( const HepBoost & lt, 00203 double epsilon=Hep4RotationInterface::tolerance) const; 00204 bool isNear( const HepLorentzRotation & lt, 00205 double epsilon=Hep4RotationInterface::tolerance) const; 00206 00207 // ---------- Properties: 00208 00209 double norm2() const; 00210 // distance2 (IDENTITY), which is 3 - Tr ( *this ) 00211 00212 inline void rectify(); 00213 // non-const but logically moot correction for accumulated roundoff errors 00214 00215 // ---------- Application: 00216 00217 inline Hep3Vector operator() (const Hep3Vector & p) const; 00218 // Rotate a Hep3Vector. 00219 00220 inline Hep3Vector operator * (const Hep3Vector & p) const; 00221 // Multiplication with a Hep3Vector. 00222 00223 inline HepLorentzVector operator()( const HepLorentzVector & w ) const; 00224 // Rotate (the space part of) a HepLorentzVector. 00225 00226 inline HepLorentzVector operator* ( const HepLorentzVector & w ) const; 00227 // Multiplication with a HepLorentzVector. 00228 00229 // ---------- Operations in the group of Rotations 00230 00231 inline HepRotationX operator * (const HepRotationX & rx) const; 00232 // Product of two X rotations: (this) * rx is known to be RotationX. 00233 00234 inline HepRotationX & operator *= (const HepRotationX & r); 00235 inline HepRotationX & transform (const HepRotationX & r); 00236 // Matrix multiplication. 00237 // Note a *= b; <=> a = a * b; while a.transform(b); <=> a = b * a; 00238 // However, in this special case, they commute: Both just add deltas. 00239 00240 inline HepRotationX inverse() const; 00241 // Returns the inverse. 00242 00243 friend HepRotationX inverseOf(const HepRotationX & r); 00244 // Returns the inverse of a RotationX. 00245 00246 inline HepRotationX & invert(); 00247 // Inverts the Rotation matrix (be negating delta). 00248 00249 // ---------- I/O: 00250 00251 std::ostream & print( std::ostream & os ) const; 00252 // Output, identifying type of rotation and delta. 00253 00254 // ---------- Tolerance 00255 00256 static inline double getTolerance(); 00257 static inline double setTolerance(double tol); 00258 00259 protected: 00260 00261 double d; 00262 // The angle of rotation. 00263 00264 double s; 00265 double c; 00266 // Cache the trig functions, for rapid operations. 00267 00268 inline HepRotationX ( double dd, double ss, double cc ); 00269 // Unchecked load-the-data-members 00270 00271 static inline double proper (double delta); 00272 // Put an angle into the range of (-PI, PI]. Useful helper method. 00273 00274 }; // HepRotationX 00275 // ---------- Free-function operations in the group of Rotations 00276 00277 inline 00278 std::ostream & operator << 00279 ( std::ostream & os, const HepRotationX & r ) {return r.print(os);} 00280 00281 } // namespace CLHEP 00282 00283 #include "CLHEP/Vector/RotationX.icc" 00284 00285 #ifdef ENABLE_BACKWARDS_COMPATIBILITY 00286 // backwards compatibility will be enabled ONLY in CLHEP 1.9 00287 using namespace CLHEP; 00288 #endif 00289 00290 #endif /* HEP_ROTATIONX_H */