Constructors and Accessors

• Rotation( )

• Rotation( r )
• Rotation & operator=( r )
• Rotation & set( r )

• Rotation( phi, theta, psi ) $\triangleright$ see eqn. 
• Rotation & set( phi, theta, psi ) $\triangleright$ see eqn. 

• Rotation( const EulerAngles & e ) $\triangleright$ see eqn. 
• Rotation & set( const EulerAngles & e ) $\triangleright$ see eqn. 

• Rotation( const Hep3Vector & axis, delta ) $\triangleright$ see eqn. 
• Rotation & set( const Hep3Vector & axis, delta ) $\triangleright$ see eqn. 

• Rotation( const AxisAngle & ax ) $\triangleright$ see eqn. 
• Rotation & set( const AxisAngle & ax ) $\triangleright$ see eqn. 

• Rotation( colX, colY, colZ )
• Rotation & set( colX, colY, colZ )
• Rotation & setRows( rowX, rowY, rowZ )

• Rotation( const ZMpvRep3x3 & rep )
• Rotation & set( const ZMpvRep3x3 & rep )

• phi( ) theta( ) psi( ) $\triangleright$ see eqn. ,,
• eulerAngles( ) $\triangleright$ see eqn. ,,
• axis( ) delta( )
• axisAngle( ) $\triangleright$ see eqn. ,
• colX( ) colY( ) colZ( )
• rowX( ) rowY( ) rowZ( )
• xx( ) xy( ) xz( )
• yx( ) yy( ) yz( )
• zx( ) zy( ) zz( )

• HepRep3x3 rep3x3( )

• HepRep4x4 rep4x4( )

And the matrix elements of a HepRotation may be accessed using two integer indices in parentheses or square brackets, with indices running from 0 to 2.

The following methods alter one component of a HepRotation, in some way of viewing that rotation:

• setPhi(HepDouble) setTheta(HepDouble) setPsi(HepDouble) $\triangleright$ see eqn. 
• setAxis(Hep3Vector) setDelta(Hep3Vector) $\triangleright$ see eqn.