EulerAngles class describing rotation as three angles (Euler Angles).

The Euler angles definition matches that of Classical Mechanics (Goldstein). It is also the same convention defined in mathworld and used in Mathematica and CLHEP. Note that the ROOT class TRotation defines a slightly different convention.

Definition at line 43 of file EulerAngles.h.

Public Types
typedef double	Scalar

Public Member Functions
	EulerAngles ()
	Default constructor. More...

	EulerAngles (Scalar phi, Scalar theta, Scalar psi)
	Constructor from phi, theta and psi. More...

template<class IT >
	EulerAngles (IT begin, IT end)
	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. More...

void	Rectify ()
	Re-adjust components place angles in canonical ranges. More...

template<class OtherRotation >
	EulerAngles (const OtherRotation &r)
	Create from any other supported rotation (see gv_detail::convert ) More...

template<class OtherRotation >
EulerAngles &	operator= (OtherRotation const &r)
	Assign from any other rotation (see gv_detail::convert ) More...

template<class IT >
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 array of three Scalars. More...

template<class IT >
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 the desired data (4 past start). More...

template<class IT >
void	GetComponents (IT begin) const
	Get the axis and then the angle into data specified by an iterator begin. More...

void	SetComponents (Scalar phi, Scalar theta, Scalar psi)
	Set the components phi, theta, psi based on three Scalars. More...

void	GetComponents (Scalar &phi, Scalar &theta, Scalar &psi) const
	Get the components phi, theta, psi into three Scalars. More...

void	SetPhi (Scalar phi)
	Set Phi Euler angle // JMM 30 Jan. More...

Scalar	Phi () const
	Return Phi Euler angle. More...

void	SetTheta (Scalar theta)
	Set Theta Euler angle // JMM 30 Jan. More...

Scalar	Theta () const
	Return Theta Euler angle. More...

void	SetPsi (Scalar psi)
	Set Psi Euler angle // JMM 30 Jan. More...

Scalar	Psi () const
	Return Psi Euler angle. More...

template<class CoordSystem , class U >
DisplacementVector3D< CoordSystem, U >	operator() (const DisplacementVector3D< CoordSystem, U > &v) const
	Rotation operation on a displacement vector in any coordinate system and tag. More...

template<class CoordSystem , class U >
PositionVector3D< CoordSystem, U >	operator() (const PositionVector3D< CoordSystem, U > &v) const
	Rotation operation on a position vector in any coordinate system. More...

template<class CoordSystem >
LorentzVector< CoordSystem >	operator() (const LorentzVector< CoordSystem > &v) const
	Rotation operation on a Lorentz vector in any 4D coordinate system. More...

template<class ForeignVector >
ForeignVector	operator() (const ForeignVector &v) const
	Rotation operation on an arbitrary vector v. More...

template<class AVector >
AVector	operator* (const AVector &v) const
	Overload operator * for rotation on a vector. More...

void	Invert ()
	Invert a rotation in place. More...

EulerAngles	Inverse () const
	Return inverse of a rotation. More...

EulerAngles	operator* (const Rotation3D &r) const
	Multiply (combine) two rotations. More...

EulerAngles	operator* (const AxisAngle &a) const

EulerAngles	operator* (const EulerAngles &e) const

EulerAngles	operator* (const Quaternion &q) const

EulerAngles	operator* (const RotationX &rx) const

EulerAngles	operator* (const RotationY &ry) const

EulerAngles	operator* (const RotationZ &rz) const

template<class R >
EulerAngles &	operator*= (const R &r)
	Post-Multiply (on right) by another rotation : T = T*R. More...

template<class R >
Scalar	Distance (const R &r) const
	Distance between two rotations. More...

bool	operator== (const EulerAngles &rhs) const
	Equality/inequality operators. More...

bool	operator!= (const EulerAngles &rhs) const

Static Private Member Functions
static double	Pi ()

Private Attributes
double	fPhi

double	fTheta

double	fPsi

#include <Math/GenVector/EulerAngles.h>

Member Typedef Documentation

typedef double ROOT::Math::EulerAngles::Scalar

Definition at line 47 of file EulerAngles.h.

Constructor & Destructor Documentation

ROOT::Math::EulerAngles::EulerAngles ( )

inline

Default constructor.

Definition at line 52 of file EulerAngles.h.

Referenced by Inverse(), and operator*().

ROOT::Math::EulerAngles::EulerAngles	(	Scalar	phi,
		Scalar	theta,
		Scalar	psi
	)

inline

Constructor from phi, theta and psi.

Definition at line 57 of file EulerAngles.h.

template<class IT >

ROOT::Math::EulerAngles::EulerAngles	(	IT	begin,
		IT	end
	)

inline

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.

Definition at line 67 of file EulerAngles.h.

template<class OtherRotation >

ROOT::Math::EulerAngles::EulerAngles ( const OtherRotation & r )

inlineexplicit

Create from any other supported rotation (see gv_detail::convert )

Definition at line 83 of file EulerAngles.h.

Member Function Documentation

template<class R >

Scalar ROOT::Math::EulerAngles::Distance ( const R & r ) const

inline

Distance between two rotations.

Definition at line 331 of file EulerAngles.h.

template<class IT >

void ROOT::Math::EulerAngles::GetComponents	(	IT	begin,
		IT	end
	)		const

inline

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).

Definition at line 169 of file EulerAngles.h.

template<class IT >

void ROOT::Math::EulerAngles::GetComponents ( IT begin ) const

inline

Get the axis and then the angle into data specified by an iterator begin.

Definition at line 183 of file EulerAngles.h.

void ROOT::Math::EulerAngles::GetComponents	(	Scalar &	phi,
		Scalar &	theta,
		Scalar &	psi
	)		const

inline

Get the components phi, theta, psi into three Scalars.

Definition at line 200 of file EulerAngles.h.

EulerAngles ROOT::Math::EulerAngles::Inverse ( ) const

inline

Return inverse of a rotation.

Definition at line 306 of file EulerAngles.h.

Referenced by testTransform3D().

void ROOT::Math::EulerAngles::Invert ( )

inline

Invert a rotation in place.

Definition at line 297 of file EulerAngles.h.

bool ROOT::Math::EulerAngles::operator!= ( const EulerAngles & rhs ) const

inline

Definition at line 342 of file EulerAngles.h.

template<class CoordSystem , class U >

DisplacementVector3D<CoordSystem,U> ROOT::Math::EulerAngles::operator() ( const DisplacementVector3D< CoordSystem, U > & v ) const

inline

Rotation operation on a displacement vector in any coordinate system and tag.

Definition at line 242 of file EulerAngles.h.

Referenced by operator()(), and operator*().

template<class CoordSystem , class U >

PositionVector3D<CoordSystem, U> ROOT::Math::EulerAngles::operator() ( const PositionVector3D< CoordSystem, U > & v ) const

inline

Rotation operation on a position vector in any coordinate system.

Definition at line 251 of file EulerAngles.h.

template<class CoordSystem >

LorentzVector<CoordSystem> ROOT::Math::EulerAngles::operator() ( const LorentzVector< CoordSystem > & v ) const

inline

Rotation operation on a Lorentz vector in any 4D coordinate system.

Definition at line 262 of file EulerAngles.h.

template<class ForeignVector >

ForeignVector ROOT::Math::EulerAngles::operator() ( const ForeignVector & v ) const

inline

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)

Definition at line 276 of file EulerAngles.h.

template<class AVector >

AVector ROOT::Math::EulerAngles::operator* ( const AVector & v ) const

inline

Overload operator * for rotation on a vector.

Definition at line 287 of file EulerAngles.h.

EulerAngles ROOT::Math::EulerAngles::operator* ( const Rotation3D & r ) const

Multiply (combine) two rotations.

Definition at line 73 of file EulerAngles.cxx.

EulerAngles ROOT::Math::EulerAngles::operator* ( const AxisAngle & a ) const

Definition at line 78 of file EulerAngles.cxx.

EulerAngles ROOT::Math::EulerAngles::operator* ( const EulerAngles & e ) const

Definition at line 83 of file EulerAngles.cxx.

EulerAngles ROOT::Math::EulerAngles::operator* ( const Quaternion & q ) const

Definition at line 87 of file EulerAngles.cxx.

EulerAngles ROOT::Math::EulerAngles::operator* ( const RotationX & rx ) const

Definition at line 92 of file EulerAngles.cxx.

EulerAngles ROOT::Math::EulerAngles::operator* ( const RotationY & ry ) const

Definition at line 97 of file EulerAngles.cxx.

EulerAngles ROOT::Math::EulerAngles::operator* ( const RotationZ & rz ) const

Definition at line 102 of file EulerAngles.cxx.

template<class R >

EulerAngles& ROOT::Math::EulerAngles::operator*= ( const R & r )

inline

Post-Multiply (on right) by another rotation : T = T*R.

Definition at line 325 of file EulerAngles.h.

template<class OtherRotation >

EulerAngles& ROOT::Math::EulerAngles::operator= ( OtherRotation const & r )

inline

Assign from any other rotation (see gv_detail::convert )

Definition at line 89 of file EulerAngles.h.

bool ROOT::Math::EulerAngles::operator== ( const EulerAngles & rhs ) const

inline

Equality/inequality operators.

Definition at line 336 of file EulerAngles.h.

Referenced by operator!=().

Scalar ROOT::Math::EulerAngles::Phi ( ) const

inline

Return Phi Euler angle.

Definition at line 212 of file EulerAngles.h.

Referenced by ROOT::Math::gv_detail::convert(), ROOT::Math::operator<<(), and testTransform3D().

static double ROOT::Math::EulerAngles::Pi ( )

inlinestaticprivate

Definition at line 352 of file EulerAngles.h.

Referenced by Inverse(), Invert(), operator*(), and Rectify().

Scalar ROOT::Math::EulerAngles::Psi ( ) const

inline

Return Psi Euler angle.

Definition at line 232 of file EulerAngles.h.

Referenced by ROOT::Math::gv_detail::convert(), ROOT::Math::operator<<(), and testTransform3D().

void ROOT::Math::EulerAngles::Rectify ( )

Re-adjust components place angles in canonical ranges.

Definition at line 38 of file EulerAngles.cxx.

Referenced by EulerAngles(), SetComponents(), SetPhi(), SetPsi(), and SetTheta().

template<class IT >

void ROOT::Math::EulerAngles::SetComponents	(	IT	begin,
		IT	end
	)

inline

Set the three Euler angles given a pair of pointers or iterators defining the beginning and end of an array of three Scalars.

Definition at line 152 of file EulerAngles.h.

Referenced by ROOT::Math::gv_detail::convert(), and EulerAngles().

void ROOT::Math::EulerAngles::SetComponents	(	Scalar	phi,
		Scalar	theta,
		Scalar	psi
	)

inline

Set the components phi, theta, psi based on three Scalars.

Definition at line 192 of file EulerAngles.h.

void ROOT::Math::EulerAngles::SetPhi ( Scalar phi )

inline

Set Phi Euler angle // JMM 30 Jan.

2006

Definition at line 207 of file EulerAngles.h.

void ROOT::Math::EulerAngles::SetPsi ( Scalar psi )

inline

Set Psi Euler angle // JMM 30 Jan.

2006

Definition at line 227 of file EulerAngles.h.

void ROOT::Math::EulerAngles::SetTheta ( Scalar theta )

inline

Set Theta Euler angle // JMM 30 Jan.

2006

Definition at line 217 of file EulerAngles.h.

Scalar ROOT::Math::EulerAngles::Theta ( ) const

inline

Return Theta Euler angle.

Definition at line 222 of file EulerAngles.h.

Referenced by ROOT::Math::gv_detail::convert(), ROOT::Math::operator<<(), and testTransform3D().

Member Data Documentation

double ROOT::Math::EulerAngles::fPhi

private

Definition at line 348 of file EulerAngles.h.

Referenced by GetComponents(), Inverse(), Invert(), operator*(), operator==(), Phi(), Rectify(), SetComponents(), and SetPhi().

double ROOT::Math::EulerAngles::fPsi

private

Definition at line 350 of file EulerAngles.h.

Referenced by GetComponents(), Inverse(), Invert(), operator*(), operator==(), Psi(), Rectify(), SetComponents(), and SetPsi().

double ROOT::Math::EulerAngles::fTheta

private

Definition at line 349 of file EulerAngles.h.

Referenced by GetComponents(), Inverse(), operator*(), operator==(), Rectify(), SetComponents(), SetTheta(), and Theta().

The documentation for this class was generated from the following files:

math/genvector/inc/Math/GenVector/EulerAngles.h
math/genvector/src/EulerAngles.cxx

Public Types

Public Member Functions

Static Private Member Functions

Private Attributes

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation