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EulerAngles.h
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1 // @(#)root/mathcore:$Id$
2 // Authors: W. Brown, M. Fischler, L. Moneta 2005
3 
4  /**********************************************************************
5  * *
6  * Copyright (c) 2005 , LCG ROOT MathLib Team *
7  * *
8  * *
9  **********************************************************************/
10 
11 // Header file for class EulerAngles
12 //
13 // Created by: Lorenzo Moneta at Tue May 10 17:55:10 2005
14 //
15 // Last update: Tue May 10 17:55:10 2005
16 //
17 #ifndef ROOT_Math_GenVector_EulerAngles
18 #define ROOT_Math_GenVector_EulerAngles 1
19 
25 #include <algorithm>
26 #include <cassert>
27 
28 namespace ROOT {
29 namespace Math {
30 
31 
32 //__________________________________________________________________________________________
33  /**
34  EulerAngles class describing rotation as three angles (Euler Angles).
35  The Euler angles definition matches that of Classical Mechanics (Goldstein).
36  It is also the same convention defined in
37  <A HREF="http://mathworld.wolfram.com/EulerAngles.html">mathworld</A>
38  and used in Mathematica and CLHEP. Note that the ROOT class TRotation defines
39  a slightly different convention.
40 
41  @ingroup GenVector
42  */
43 class EulerAngles {
44 
45 public:
46 
47  typedef double Scalar;
48 
49  /**
50  Default constructor
51  */
52  EulerAngles() : fPhi(0.0), fTheta(0.0), fPsi(0.0) { }
53 
54  /**
55  Constructor from phi, theta and psi
56  */
58  fPhi(phi), fTheta(theta), fPsi(psi)
59  {Rectify();} // Added 27 Jan. 06 JMM
60 
61  /**
62  Construct given a pair of pointers or iterators defining the
63  beginning and end of an array of three Scalars, to be treated as
64  the angles phi, theta and psi.
65  */
66  template<class IT>
67  EulerAngles(IT begin, IT end) { SetComponents(begin,end); }
68 
69  // The compiler-generated copy ctor, copy assignment, and dtor are OK.
70 
71  /**
72  Re-adjust components place angles in canonical ranges
73  */
74  void Rectify();
75 
76 
77  // ======== Construction and assignement from any other rotation ==================
78 
79  /**
80  Create from any other supported rotation (see gv_detail::convert )
81  */
82  template <class OtherRotation>
83  explicit EulerAngles(const OtherRotation & r) {gv_detail::convert(r,*this);}
84 
85  /**
86  Assign from any other rotation (see gv_detail::convert )
87  */
88  template <class OtherRotation>
89  EulerAngles & operator=( OtherRotation const & r ) {
90  gv_detail::convert(r,*this);
91  return *this;
92  }
93 
94 #ifdef OLD
95  explicit EulerAngles(const Rotation3D & r) {gv_detail::convert(r,*this);}
96 
97  /**
98  Construct from a rotation matrix
99  */
100  explicit EulerAngles(const Rotation3D & r) {gv_detail::convert(r,*this);}
101 
102  /**
103  Construct from a rotation represented by a Quaternion
104  */
105  explicit EulerAngles(const Quaternion & q) {gv_detail::convert(q,*this);}
106 
107  /**
108  Construct from an AxisAngle
109  */
110  explicit EulerAngles(const AxisAngle & a ) { gv_detail::convert(a, *this); }
111 
112  /**
113  Construct from an axial rotation
114  */
115  explicit EulerAngles( RotationZ const & r ) { gv_detail::convert(r, *this); }
116  explicit EulerAngles( RotationY const & r ) { gv_detail::convert(r, *this); }
117  explicit EulerAngles( RotationX const & r ) { gv_detail::convert(r, *this); }
118 
119 
120  /**
121  Assign from an AxisAngle
122  */
123  EulerAngles &
124  operator=( AxisAngle const & a ) { return operator=(EulerAngles(a)); }
125 
126  /**
127  Assign from a Quaternion
128  */
129  EulerAngles &
130  operator=( Quaternion const & q ) {return operator=(EulerAngles(q)); }
131 
132  /**
133  Assign from an axial rotation
134  */
135  EulerAngles &
136  operator=( RotationZ const & r ) { return operator=(EulerAngles(r)); }
137  EulerAngles &
138  operator=( RotationY const & r ) { return operator=(EulerAngles(r)); }
139  EulerAngles &
140  operator=( RotationX const & r ) { return operator=(EulerAngles(r)); }
141 
142 #endif
143 
144  // ======== Components ==============
145 
146  /**
147  Set the three Euler angles given a pair of pointers or iterators
148  defining the beginning and end of an array of three Scalars.
149  */
150  template<class IT>
151 #ifndef NDEBUG
152  void SetComponents(IT begin, IT end) {
153 #else
154  void SetComponents(IT begin, IT ) {
155 #endif
156  fPhi = *begin++;
157  fTheta = *begin++;
158  fPsi = *begin++;
159  assert(begin == end);
160  Rectify(); // Added 27 Jan. 06 JMM
161  }
162 
163  /**
164  Get the axis and then the angle into data specified by an iterator begin
165  and another to the end of the desired data (4 past start).
166  */
167  template<class IT>
168 #ifndef NDEBUG
169  void GetComponents(IT begin, IT end) const {
170 #else
171  void GetComponents(IT begin, IT ) const {
172 #endif
173  *begin++ = fPhi;
174  *begin++ = fTheta;
175  *begin++ = fPsi;
176  assert(begin == end);
177  }
178 
179  /**
180  Get the axis and then the angle into data specified by an iterator begin
181  */
182  template<class IT>
183  void GetComponents(IT begin) const {
184  *begin++ = fPhi;
185  *begin++ = fTheta;
186  *begin = fPsi;
187  }
188 
189  /**
190  Set the components phi, theta, psi based on three Scalars.
191  */
193  fPhi=phi; fTheta=theta; fPsi=psi;
194  Rectify(); // Added 27 Jan. 06 JMM
195  }
196 
197  /**
198  Get the components phi, theta, psi into three Scalars.
199  */
200  void GetComponents(Scalar & phi, Scalar & theta, Scalar & psi) const {
201  phi=fPhi; theta=fTheta; psi=fPsi;
202  }
203 
204  /**
205  Set Phi Euler angle // JMM 30 Jan. 2006
206  */
207  void SetPhi(Scalar phi) { fPhi=phi; Rectify(); }
208 
209  /**
210  Return Phi Euler angle
211  */
212  Scalar Phi() const { return fPhi; }
213 
214  /**
215  Set Theta Euler angle // JMM 30 Jan. 2006
216  */
218 
219  /**
220  Return Theta Euler angle
221  */
222  Scalar Theta() const { return fTheta; }
223 
224  /**
225  Set Psi Euler angle // JMM 30 Jan. 2006
226  */
227  void SetPsi(Scalar psi) { fPsi=psi; Rectify(); }
228 
229  /**
230  Return Psi Euler angle
231  */
232  Scalar Psi() const { return fPsi; }
233 
234  // =========== operations ==============
235 
236 
237  /**
238  Rotation operation on a displacement vector in any coordinate system and tag
239  */
240  template <class CoordSystem, class U>
243  return Rotation3D(*this) ( v );
244  }
245 
246  /**
247  Rotation operation on a position vector in any coordinate system
248  */
249  template <class CoordSystem, class U>
254  return PositionVector3D<CoordSystem,U> ( rxyz );
255  }
256 
257  /**
258  Rotation operation on a Lorentz vector in any 4D coordinate system
259  */
260  template <class CoordSystem>
264  xyz = operator()(xyz);
265  LorentzVector< PxPyPzE4D<double> > xyzt (xyz.X(), xyz.Y(), xyz.Z(), v.E());
266  return LorentzVector<CoordSystem> ( xyzt );
267  }
268 
269  /**
270  Rotation operation on an arbitrary vector v.
271  Preconditions: v must implement methods x(), y(), and z()
272  and the arbitrary vector type must have a constructor taking (x,y,z)
273  */
274  template <class ForeignVector>
275  ForeignVector
276  operator() (const ForeignVector & v) const {
279  return ForeignVector ( rxyz.X(), rxyz.Y(), rxyz.Z() );
280  }
281 
282  /**
283  Overload operator * for rotation on a vector
284  */
285  template <class AVector>
286  inline
287  AVector operator* (const AVector & v) const
288  {
289  return operator()(v);
290  }
291 
292  /**
293  Invert a rotation in place
294  */
295  // theta stays the same and negative rotation in Theta is done via a rotation
296  // of + PI in phi and Psi
297  void Invert() {
298  Scalar tmp = -fPhi;
299  fPhi = -fPsi + Pi();
300  fPsi=tmp + Pi();
301  }
302 
303  /**
304  Return inverse of a rotation
305  */
306  EulerAngles Inverse() const { return EulerAngles(-fPsi + Pi(), fTheta, -fPhi + Pi()); }
307 
308  // ========= Multi-Rotation Operations ===============
309 
310  /**
311  Multiply (combine) two rotations
312  */
313  EulerAngles operator * (const Rotation3D & r) const;
314  EulerAngles operator * (const AxisAngle & a) const;
315  EulerAngles operator * (const EulerAngles & e) const;
316  EulerAngles operator * (const Quaternion & q) const;
317  EulerAngles operator * (const RotationX & rx) const;
318  EulerAngles operator * (const RotationY & ry) const;
319  EulerAngles operator * (const RotationZ & rz) const;
320 
321  /**
322  Post-Multiply (on right) by another rotation : T = T*R
323  */
324  template <class R>
325  EulerAngles & operator *= (const R & r) { return *this = (*this)*r; }
326 
327  /**
328  Distance between two rotations
329  */
330  template <class R>
331  Scalar Distance ( const R & r ) const {return gv_detail::dist(*this,r);}
332 
333  /**
334  Equality/inequality operators
335  */
336  bool operator == (const EulerAngles & rhs) const {
337  if( fPhi != rhs.fPhi ) return false;
338  if( fTheta != rhs.fTheta ) return false;
339  if( fPsi != rhs.fPsi ) return false;
340  return true;
341  }
342  bool operator != (const EulerAngles & rhs) const {
343  return ! operator==(rhs);
344  }
345 
346 private:
347 
348  double fPhi; // Z rotation angle (first) defined in [-PI,PI]
349  double fTheta; // X rotation angle (second) defined only [0,PI]
350  double fPsi; // Z rotation angle (third) defined in [-PI,PI]
351 
352  static double Pi() { return M_PI; }
353 
354 }; // EulerAngles
355 
356 /**
357  Distance between two rotations
358  */
359 template <class R>
360 inline
361 typename EulerAngles::Scalar
362 Distance ( const EulerAngles& r1, const R & r2) {return gv_detail::dist(r1,r2);}
363 
364 /**
365  Multiplication of an axial rotation by an AxisAngle
366  */
367 EulerAngles operator* (RotationX const & r1, EulerAngles const & r2);
368 EulerAngles operator* (RotationY const & r1, EulerAngles const & r2);
369 EulerAngles operator* (RotationZ const & r1, EulerAngles const & r2);
370 
371 /**
372  Stream Output and Input
373  */
374  // TODO - I/O should be put in the manipulator form
375 
376 std::ostream & operator<< (std::ostream & os, const EulerAngles & e);
377 
378 } // namespace Math
379 } // namespace ROOT
380 
381 
382 #endif /* ROOT_Math_GenVector_EulerAngles */
Scalar E() const
return 4-th component (time, or energy for a 4-momentum vector)
Class describing a generic LorentzVector in the 4D space-time, using the specified coordinate system ...
Definition: LorentzVector.h:54
double dist(Rotation3D const &r1, Rotation3D const &r2)
Definition: 3DDistances.cxx:48
bool operator!=(const EulerAngles &rhs) const
Definition: EulerAngles.h:342
void SetPsi(Scalar psi)
Set Psi Euler angle // JMM 30 Jan.
Definition: EulerAngles.h:227
EulerAngles(IT begin, IT end)
Construct given a pair of pointers or iterators defining the beginning and end of an array of three S...
Definition: EulerAngles.h:67
EulerAngles & operator*=(const R &r)
Post-Multiply (on right) by another rotation : T = T*R.
Definition: EulerAngles.h:325
Scalar Phi() const
Return Phi Euler angle.
Definition: EulerAngles.h:212
EulerAngles & operator=(OtherRotation const &r)
Assign from any other rotation (see gv_detail::convert )
Definition: EulerAngles.h:89
void SetComponents(IT begin, IT end)
Set the three Euler angles given a pair of pointers or iterators defining the beginning and end of an...
Definition: EulerAngles.h:152
void GetComponents(IT begin, IT end) const
Get the axis and then the angle into data specified by an iterator begin and another to the end of th...
Definition: EulerAngles.h:169
::ROOT::Math::DisplacementVector3D< Cartesian3D< Scalar > > Vect() const
get the spatial components of the Vector in a DisplacementVector based on Cartesian Coordinates ...
Float_t theta
Definition: shapesAnim.C:5
#define assert(cond)
Definition: unittest.h:542
Rotation class representing a 3D rotation about the Z axis by the angle of rotation.
Definition: RotationZ.h:43
Scalar Y() const
Cartesian Y, converting if necessary from internal coordinate system.
void Rectify()
Re-adjust components place angles in canonical ranges.
Definition: EulerAngles.cxx:38
Class describing a generic position vector (point) in 3 dimensions.
EulerAngles(Scalar phi, Scalar theta, Scalar psi)
Constructor from phi, theta and psi.
Definition: EulerAngles.h:57
Rotation class with the (3D) rotation represented by a unit quaternion (u, i, j, k).
Definition: Quaternion.h:47
AVector operator*(const AVector &v) const
Overload operator * for rotation on a vector.
Definition: EulerAngles.h:287
std::ostream & operator<<(std::ostream &os, const AxisAngle &a)
Stream Output and Input.
Definition: AxisAngle.cxx:91
void Invert()
Invert a rotation in place.
Definition: EulerAngles.h:297
void SetTheta(Scalar theta)
Set Theta Euler angle // JMM 30 Jan.
Definition: EulerAngles.h:217
AxisAngle class describing rotation represented with direction axis (3D Vector) and an angle of rotat...
Definition: AxisAngle.h:41
DisplacementVector3D< CoordSystem, U > operator()(const DisplacementVector3D< CoordSystem, U > &v) const
Rotation operation on a displacement vector in any coordinate system and tag.
Definition: EulerAngles.h:242
Rotation class representing a 3D rotation about the Y axis by the angle of rotation.
Definition: RotationY.h:43
Scalar X() const
Cartesian X, converting if necessary from internal coordinate system.
Scalar Distance(const R &r) const
Distance between two rotations.
Definition: EulerAngles.h:331
Class describing a generic displacement vector in 3 dimensions.
ROOT::R::TRInterface & r
Definition: Object.C:4
#define M_PI
Definition: Rotated.cxx:105
SVector< double, 2 > v
Definition: Dict.h:5
EulerAngles Inverse() const
Return inverse of a rotation.
Definition: EulerAngles.h:306
unsigned int r1[N_CITIES]
Definition: simanTSP.cxx:321
Rotation class representing a 3D rotation about the X axis by the angle of rotation.
Definition: RotationX.h:43
Rotation class with the (3D) rotation represented by a 3x3 orthogonal matrix.
Definition: Rotation3D.h:65
void SetComponents(Scalar phi, Scalar theta, Scalar psi)
Set the components phi, theta, psi based on three Scalars.
Definition: EulerAngles.h:192
Scalar Theta() const
Return Theta Euler angle.
Definition: EulerAngles.h:222
Float_t phi
Definition: shapesAnim.C:6
void convert(R1 const &, R2 const)
Definition: 3DConversions.h:41
EulerAngles(const OtherRotation &r)
Create from any other supported rotation (see gv_detail::convert )
Definition: EulerAngles.h:83
EulerAngles()
Default constructor.
Definition: EulerAngles.h:52
bool operator==(const EulerAngles &rhs) const
Equality/inequality operators.
Definition: EulerAngles.h:336
Scalar Z() const
Cartesian Z, converting if necessary from internal coordinate system.
EulerAngles class describing rotation as three angles (Euler Angles).
Definition: EulerAngles.h:43
void GetComponents(IT begin) const
Get the axis and then the angle into data specified by an iterator begin.
Definition: EulerAngles.h:183
void SetPhi(Scalar phi)
Set Phi Euler angle // JMM 30 Jan.
Definition: EulerAngles.h:207
void GetComponents(Scalar &phi, Scalar &theta, Scalar &psi) const
Get the components phi, theta, psi into three Scalars.
Definition: EulerAngles.h:200
TRandom3 R
a TMatrixD.
Definition: testIO.cxx:28
unsigned int r2[N_CITIES]
Definition: simanTSP.cxx:322
Scalar Psi() const
Return Psi Euler angle.
Definition: EulerAngles.h:232
static double Pi()
Definition: EulerAngles.h:352