/usr/include/root/Math/GenVector/RotationZYX.h is in libroot-math-genvector-dev 5.34.30-0ubuntu8.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 | // @(#)root/mathcore:$Id$
// Authors: J. Palacios, L. Moneta 2007
/**********************************************************************
* *
* Copyright (c) 2007 , LCG ROOT MathLib Team *
* *
* *
**********************************************************************/
// Header file for class Rotation in 3 dimensions, described by 3 Z-Y-X Euler angles
// representing a rotation along Z, Y and X
//
// Created by: Lorenzo Moneta, Wed. May 22, 2007
//
// Last update: $Id$
//
#ifndef ROOT_Math_GenVector_RotationZYX
#define ROOT_Math_GenVector_RotationZYX 1
#ifndef ROOT_Math_Math
#include "Math/Math.h"
#endif
#ifndef ROOT_Math_GenVector_Rotation3D
#include "Math/GenVector/Rotation3D.h"
#endif
#ifndef ROOT_Math_GenVector_DisplacementVector3D
#include "Math/GenVector/DisplacementVector3D.h"
#endif
#ifndef ROOT_Math_GenVector_PositionVector3D
#include "Math/GenVector/PositionVector3D.h"
#endif
#ifndef ROOT_Math_GenVector_LorentzVector
#include "Math/GenVector/LorentzVector.h"
#endif
#ifndef ROOT_Math_GenVector_3DConversions
#include "Math/GenVector/3DConversions.h"
#endif
#include <algorithm>
#include <cassert>
#include <iostream>
namespace ROOT {
namespace Math {
//__________________________________________________________________________________________
/**
Rotation class with the (3D) rotation represented by
angles describing first a rotation of
an angle phi (yaw) about the Z axis,
followed by a rotation of an angle theta (pitch) about the new Y' axis,
followed by a third rotation of an angle psi (roll) about the final X'' axis.
This is sometimes referred to as the Euler 321 sequence.
It has not to be confused with the typical Goldstein definition of the Euler Angles
(Z-X-Z or 313 sequence) which is used by the ROOT::Math::EulerAngles class.
@ingroup GenVector
*/
class RotationZYX {
public:
typedef double Scalar;
// ========== Constructors and Assignment =====================
/**
Default constructor
*/
RotationZYX() : fPhi(0.0), fTheta(0.0), fPsi(0.0) { }
/**
Constructor from phi, theta and psi
*/
RotationZYX( Scalar phi, Scalar theta, Scalar psi ) :
fPhi(phi), fTheta(theta), fPsi(psi)
{Rectify();} // Added 27 Jan. 06 JMM
/**
Construct given a pair of pointers or iterators defining the
beginning and end of an array of three Scalars, to be treated as
the angles phi, theta and psi.
*/
template<class IT>
RotationZYX(IT begin, IT end) { SetComponents(begin,end); }
// The compiler-generated copy ctor, copy assignment, and dtor are OK.
/**
Re-adjust components place angles in canonical ranges
*/
void Rectify();
// ======== Construction and Assignment From other Rotation Forms ==================
/**
Construct from another supported rotation type (see gv_detail::convert )
*/
template <class OtherRotation>
explicit RotationZYX(const OtherRotation & r) {gv_detail::convert(r,*this);}
/**
Assign from another supported rotation type (see gv_detail::convert )
*/
template <class OtherRotation>
RotationZYX & operator=( OtherRotation const & r ) {
gv_detail::convert(r,*this);
return *this;
}
// ======== Components ==============
/**
Set the three Euler angles given a pair of pointers or iterators
defining the beginning and end of an array of three Scalars.
*/
template<class IT>
void SetComponents(IT begin, IT end) {
(void)end;
fPhi = *begin++;
fTheta = *begin++;
fPsi = *begin++;
assert(begin == end);
Rectify();
}
/**
Get the axis and then the angle into data specified by an iterator begin
and another to the end of the desired data (4 past start).
*/
template<class IT>
void GetComponents(IT begin, IT end) const {
(void)end;
*begin++ = fPhi;
*begin++ = fTheta;
*begin++ = fPsi;
assert(begin == end);
}
/**
Get the axis and then the angle into data specified by an iterator begin
*/
template<class IT>
void GetComponents(IT begin) const {
*begin++ = fPhi;
*begin++ = fTheta;
*begin = fPsi;
}
/**
Set the components phi, theta, psi based on three Scalars.
*/
void SetComponents(Scalar phi, Scalar theta, Scalar psi) {
fPhi=phi; fTheta=theta; fPsi=psi;
Rectify();
}
/**
Get the components phi, theta, psi into three Scalars.
*/
void GetComponents(Scalar & phi, Scalar & theta, Scalar & psi) const {
phi=fPhi; theta=fTheta; psi=fPsi;
}
/**
Set Phi angle (Z rotation angle)
*/
void SetPhi(Scalar phi) { fPhi=phi; Rectify(); }
/**
Return Phi angle (Z rotation angle)
*/
Scalar Phi() const { return fPhi; }
/**
Set Theta angle (Y' rotation angle)
*/
void SetTheta(Scalar theta) { fTheta=theta; Rectify(); }
/**
Return Theta angle (Y' rotation angle)
*/
Scalar Theta() const { return fTheta; }
/**
Set Psi angle (X'' rotation angle)
*/
void SetPsi(Scalar psi) { fPsi=psi; Rectify(); }
/**
Return Psi angle (X'' rotation angle)
*/
Scalar Psi() const { return fPsi; }
// =========== operations ==============
/**
Rotation operation on a displacement vector in any coordinate system and tag
*/
template <class CoordSystem, class U>
DisplacementVector3D<CoordSystem,U>
operator() (const DisplacementVector3D<CoordSystem,U> & v) const {
return Rotation3D(*this) ( v );
}
/**
Rotation operation on a position vector in any coordinate system
*/
template <class CoordSystem, class U>
PositionVector3D<CoordSystem, U>
operator() (const PositionVector3D<CoordSystem,U> & v) const {
DisplacementVector3D< Cartesian3D<double>,U > xyz(v);
DisplacementVector3D< Cartesian3D<double>,U > rxyz = operator()(xyz);
return PositionVector3D<CoordSystem,U> ( rxyz );
}
/**
Rotation operation on a Lorentz vector in any 4D coordinate system
*/
template <class CoordSystem>
LorentzVector<CoordSystem>
operator() (const LorentzVector<CoordSystem> & v) const {
DisplacementVector3D< Cartesian3D<double> > xyz(v.Vect());
xyz = operator()(xyz);
LorentzVector< PxPyPzE4D<double> > xyzt (xyz.X(), xyz.Y(), xyz.Z(), v.E());
return LorentzVector<CoordSystem> ( xyzt );
}
/**
Rotation operation on an arbitrary vector v.
Preconditions: v must implement methods x(), y(), and z()
and the arbitrary vector type must have a constructor taking (x,y,z)
*/
template <class ForeignVector>
ForeignVector
operator() (const ForeignVector & v) const {
DisplacementVector3D< Cartesian3D<double> > xyz(v);
DisplacementVector3D< Cartesian3D<double> > rxyz = operator()(xyz);
return ForeignVector ( rxyz.X(), rxyz.Y(), rxyz.Z() );
}
/**
Overload operator * for rotation on a vector
*/
template <class AVector>
inline
AVector operator* (const AVector & v) const
{
return operator()(v);
}
/**
Invert a rotation in place
*/
void Invert();
/**
Return inverse of a rotation
*/
RotationZYX Inverse() const {
RotationZYX r(*this);
r.Invert();
return r;
}
// ========= Multi-Rotation Operations ===============
/**
Multiply (combine) two rotations
*/
RotationZYX operator * (const RotationZYX & e) const;
RotationZYX operator * (const Rotation3D & r) const;
RotationZYX operator * (const AxisAngle & a) const;
RotationZYX operator * (const Quaternion & q) const;
RotationZYX operator * (const EulerAngles & q) const;
RotationZYX operator * (const RotationX & rx) const;
RotationZYX operator * (const RotationY & ry) const;
RotationZYX operator * (const RotationZ & rz) const;
/**
Post-Multiply (on right) by another rotation : T = T*R
*/
template <class R>
RotationZYX & operator *= (const R & r) { return *this = (*this)*r; }
/**
Distance between two rotations
*/
template <class R>
Scalar Distance ( const R & r ) const {return gv_detail::dist(*this,r);}
/**
Equality/inequality operators
*/
bool operator == (const RotationZYX & rhs) const {
if( fPhi != rhs.fPhi ) return false;
if( fTheta != rhs.fTheta ) return false;
if( fPsi != rhs.fPsi ) return false;
return true;
}
bool operator != (const RotationZYX & rhs) const {
return ! operator==(rhs);
}
private:
double fPhi; // Z rotation angle (yaw) defined in (-PI,PI]
double fTheta; // Y' rotation angle (pitch) defined in [-PI/2,PI/2]
double fPsi; // X'' rotation angle (roll) defined in (-PI,PI]
static double Pi() { return M_PI; }
}; // RotationZYX
/**
Distance between two rotations
*/
template <class R>
inline
typename RotationZYX::Scalar
Distance ( const RotationZYX& r1, const R & r2) {return gv_detail::dist(r1,r2);}
/**
Multiplication of an axial rotation by an AxisAngle
*/
RotationZYX operator* (RotationX const & r1, RotationZYX const & r2);
RotationZYX operator* (RotationY const & r1, RotationZYX const & r2);
RotationZYX operator* (RotationZ const & r1, RotationZYX const & r2);
/**
Stream Output and Input
*/
// TODO - I/O should be put in the manipulator form
std::ostream & operator<< (std::ostream & os, const RotationZYX & e);
} // namespace Math
} // namespace ROOT
#endif // ROOT_Math_GenVector_RotationZYX
|