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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 | //# Euler.h: Vector of Euler rotation angles
//# Copyright (C) 1995,1996,1997,1998,1999
//# Associated Universities, Inc. Washington DC, USA.
//#
//# This library is free software; you can redistribute it and/or modify it
//# under the terms of the GNU Library General Public License as published by
//# the Free Software Foundation; either version 2 of the License, or (at your
//# option) any later version.
//#
//# This library is distributed in the hope that it will be useful, but WITHOUT
//# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
//# FITNESS FOR A PARTICULAR PURPOSE. See the GNU Library General Public
//# License for more details.
//#
//# You should have received a copy of the GNU Library General Public License
//# along with this library; if not, write to the Free Software Foundation,
//# Inc., 675 Massachusetts Ave, Cambridge, MA 02139, USA.
//#
//# Correspondence concerning AIPS++ should be addressed as follows:
//# Internet email: aips2-request@nrao.edu.
//# Postal address: AIPS++ Project Office
//# National Radio Astronomy Observatory
//# 520 Edgemont Road
//# Charlottesville, VA 22903-2475 USA
//#
//# $Id$
#ifndef CASA_EULER_H
#define CASA_EULER_H
//# Includes
#include <casacore/casa/aips.h>
#include <casacore/casa/Arrays/Vector.h>
#include <casacore/casa/Quanta/Quantum.h>
#include <utility>
namespace casacore { //# NAMESPACE CASACORE - BEGIN
//# Forward Declarations
// <summary>
// Vector of Euler rotation angles
// </summary>
// <use visibility=local>
// <reviewed reviewer="tcornwel" date="1996/02/15" tests="tMeasMath" demos="">
// </reviewed>
// <prerequisite>
// <li> <linkto class=Vector>Vector</linkto> class
// <li> <linkto class=Quantum>Quantum</linkto> class for units
// <li> <linkto class=RotMatrix>RotMatrix</linkto> class for usage
// </prerequisite>
//
// <etymology>
// Euler angles describe the rotation of a coordinate system
// </etymology>
//
// <synopsis>
// The Euler class is a vector of three angles, together with a vector of
// three signed integers. The angles describe the rotation around an axis of a
// coordinate system, the integers the actual axis around which to rotate.
// The integer can be 0 (do not use this angle) or 1,2,3 to indicate the
// axis.
// Given angles (a1,a2,a3) and axes (i1,i2,i3), the actual rotation matrix
// constructed will be:<br>
// R = R<sub>i3</sub>(a3).R<sub>i2</sub>(a2).R<sub>i1</sub>(a1) <br>
// It has the following constructors:
// <ul>
// <li> Euler() creates a zero filled vector of length 3. Axes: (1,2,3)
// <li> Euler(Euler) creates a copy
// <li> Euler(Double, uInt, Double=0, uInt=0, Double=0, uInt=0) creates an
// Euler with specified values
// <li> Euler(Double, Double=0, Double=0) creates an Euler with (1,2,3)
// <li> Euler(Quantity, uInt, Quantity=0, uInt=0, Quantity=0, uInt=0) creates
// an Euler with specified values
// <li> Euler(Quantity, Quantity=0, Quantity=0) creates an Euler with
// interpretation of angle units in the Quantities
// <li> Euler(<src>Quantum<Vector<Double> ></src>) creates a zero expanded
// Euler from at most the first three elements of Quantity
// vector; with (1,2,3)
// <li> Euler(<src>Quantum<Vector<Double> >, Vector<uInt></src>) creates a
// zero expanded Euler with given values
// </ul>
// It has a unary minus operator, which reverses the sign and order of the
// three angles, and the order of the axes, to produce the Euler angles
// for a rotation with opposite signs, so that <src>RotMatrix(-Euler)</src>
// will generate the inverse rotation matrix as compared with
// <src>RotMatrix(Euler)</src>.<br>
// getAngle() functions return the Euler angles as a Quantum vector.<br>
// Eulers have addition and subtraction (on the angles). Note that this
// produces the correct angles for a combined rotation only if the
// axes are identical.<br>
// A (which) operator returns the indicated angle. Set/get functions
// manipulate the axes.
// </synopsis>
//
// <example>
// <srcblock>
// Quantity angle(25,"deg"); // 25 degrees
// Euler eul(angle.get().getValue(),2); // rotate over axis 2 (radians)
// RotMatrix rot(eul); // generates rotation matrix
// </srcblock>
// </example>
//
// <motivation>
// To use generated precession and nutation results
// </motivation>
//
// <todo asof="1995/09/04">
// </todo>
class Euler
{
public:
//# Friends
// Output Euler angles
friend ostream &operator<<(ostream &os, const Euler &eul);
//# Constructors
// Default constructor generates zero filled Double vector of length 3, with
// (1,2,3) axes
Euler();
// Copy constructor
Euler(const Euler &other);
// Copy assignment
Euler &operator=(const Euler &other);
// Constructs an Euler with specified angles and (1,2,3) axes
Euler(Double in0, Double in1 = 0, Double in2 = 0);
// Constructs an Euler with specified angles and axes
Euler(Double in0, uInt ax0, Double in1 = 0, uInt ax1=0, Double in2 = 0,
uInt ax2=0);
// <thrown>
// <li> AipsError if non-angle units used
// </thrown>
// Constructs an Euler from specified angle quantities
// <group>
Euler(const Quantity &in0);
Euler(const Quantity &in0, const Quantity &in1);
Euler(const Quantity &in0, const Quantity &in1,
const Quantity &in2);
Euler(const Quantity &in0, uInt ax0);
Euler(const Quantity &in0, uInt ax0, const Quantity &in1, uInt ax1=0);
Euler(const Quantity &in0, uInt ax0, const Quantity &in1, uInt ax1,
const Quantity &in2, uInt ax2=0);
// Constructs an Euler (zero filled) from elements of Quantity vector
// <group>
Euler(const Quantum<Vector<Double> > &in);
Euler(const Quantum<Vector<Double> > &in, const Vector<uInt> &ax);
// </group>
// </group>
// Destructor
~Euler();
//# Operators
// The unary minus reverses the sign and order of the Euler angles
Euler operator-() const;
// Addition and subtraction
// <group>
Euler &operator+=(const Euler &right);
Euler operator+(const Euler &right) const;
Euler &operator-=(const Euler &right);
Euler operator-(const Euler &right) const;
// </group>
// Return the which' angle
// <group>
Double &operator()(uInt which);
const Double &operator()(uInt which) const;
// </group>
//# General Member Functions
// with the optional conversion units.
// <group>
Quantum<Vector<Double> > getAngle() const;
Quantum<Vector<Double> > getAngle(const Unit &unit) const;
// </group>
// Set an axis
void set(uInt which, uInt ax);
// Set all axes
void set(uInt ax0, uInt ax1, uInt ax2);
// Get an axis
Int get(uInt which) const;
private:
//# Data
typedef std::pair<Vector<Double> *, Vector<Int> *> DataArrays;
// data container
DataArrays data;
// vector with 3 Euler angles (data.first)
Vector<Double> & euler;
// Axes (data.second)
Vector<Int> & axes;
//# Private Member Functions
// The makeRad functions check and convert the input Quantities to radians
// <group>
static Double makeRad(const Quantity &in);
static Vector<Double> makeRad(const Quantum<Vector<Double> > &in);
// </group>
DataArrays get_arrays();
void return_arrays(DataArrays array);
#if defined(AIPS_CXX11) && !defined(__APPLE__)
static thread_local DataArrays arrays[50];
static thread_local size_t available;
#endif
};
} //# NAMESPACE CASACORE - END
#endif
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