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RotationZ.cc
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1// -*- C++ -*-
2// ---------------------------------------------------------------------------
3//
4// This file is a part of the CLHEP - a Class Library for High Energy Physics.
5//
6// This is the implementation of methods of the HepRotationZ class which
7// were introduced when ZOOM PhysicsVectors was merged in.
8//
9
10#ifdef GNUPRAGMA
11#pragma implementation
12#endif
13
14#include "CLHEP/Vector/defs.h"
15#include "CLHEP/Vector/RotationZ.h"
16#include "CLHEP/Vector/AxisAngle.h"
17#include "CLHEP/Vector/EulerAngles.h"
18#include "CLHEP/Vector/LorentzRotation.h"
20
21#include <cmath>
22#include <stdlib.h>
23#include <iostream>
24
25namespace CLHEP {
26
27static inline double safe_acos (double x) {
28 if (std::abs(x) <= 1.0) return std::acos(x);
29 return ( (x>0) ? 0 : CLHEP::pi );
30}
31
33 its_d(proper(dddelta)), its_s(std::sin(dddelta)), its_c(std::cos(dddelta))
34{}
35
36HepRotationZ & HepRotationZ::set ( double dddelta ) {
37 its_d = proper(dddelta);
38 its_s = std::sin(its_d);
39 its_c = std::cos(its_d);
40 return *this;
41}
42
43double HepRotationZ::phi() const {
44 return - its_d/2.0;
45} // HepRotationZ::phi()
46
47double HepRotationZ::theta() const {
48 return 0.0 ;
49} // HepRotationZ::theta()
50
51double HepRotationZ::psi() const {
52 return - its_d/2.0;
53} // HepRotationZ::psi()
54
56 return HepEulerAngles( phi(), theta(), psi() );
57} // HepRotationZ::eulerAngles()
58
59
60// From the defining code in the implementation of CLHEP (in Rotation.cc)
61// it is clear that thetaX, phiX form the polar angles in the original
62// coordinate system of the new X axis (and similarly for phiY and phiZ).
63//
64// This code is take directly from CLHEP original. However, there are as
65// shown opportunities for significant speed improvement.
66
67double HepRotationZ::phiX() const {
68 return (yx() == 0.0 && xx() == 0.0) ? 0.0 : std::atan2(yx(),xx());
69 // or ---- return d;
70}
71
72double HepRotationZ::phiY() const {
73 return (yy() == 0.0 && xy() == 0.0) ? 0.0 : std::atan2(yy(),xy());
74}
75
76double HepRotationZ::phiZ() const {
77 return (yz() == 0.0 && xz() == 0.0) ? 0.0 : std::atan2(yz(),xz());
78 // or ---- return 0.0;
79}
80
81double HepRotationZ::thetaX() const {
82 return safe_acos(zx());
83 // or ---- return CLHEP::halfpi;
84}
85
86double HepRotationZ::thetaY() const {
87 return safe_acos(zy());
88 // or ---- return CLHEP::halfpi;
89}
90
91double HepRotationZ::thetaZ() const {
92 return safe_acos(zz());
93 // or ---- return 0.0;
94}
95
96void HepRotationZ::setDelta ( double ddelta ) {
97 set(ddelta);
98}
99
101 (HepAxisAngle & rotation, Hep3Vector & boost) const {
102 boost.set(0,0,0);
103 rotation = axisAngle();
104}
105
107 (Hep3Vector & boost, HepAxisAngle & rotation) const {
108 boost.set(0,0,0);
109 rotation = axisAngle();
110}
111
113 (HepRotation & rotation, HepBoost & boost) const {
114 boost.set(0,0,0);
115 rotation = HepRotation(*this);
116}
117
119 (HepBoost & boost, HepRotation & rotation) const {
120 boost.set(0,0,0);
121 rotation = HepRotation(*this);
122}
123
124double HepRotationZ::distance2( const HepRotationZ & r ) const {
125 double answer = 2.0 * ( 1.0 - ( its_s * r.its_s + its_c * r.its_c ) ) ;
126 return (answer >= 0) ? answer : 0;
127}
128
129double HepRotationZ::distance2( const HepRotation & r ) const {
130 double sum = xx() * r.xx() + xy() * r.xy()
131 + yx() * r.yx() + yy() * r.yy()
132 + r.zz();
133 double answer = 3.0 - sum;
134 return (answer >= 0 ) ? answer : 0;
135}
136
137double HepRotationZ::distance2( const HepLorentzRotation & lt ) const {
140 lt.decompose(b, a);
141 double bet = b.beta();
142 double bet2 = bet*bet;
143 HepRotation r(a);
144 return bet2/(1-bet2) + distance2(r);
145}
146
147double HepRotationZ::distance2( const HepBoost & lt ) const {
148 return distance2( HepLorentzRotation(lt));
149}
150
151double HepRotationZ::howNear( const HepRotationZ & r ) const {
152 return std::sqrt(distance2(r));
153}
154double HepRotationZ::howNear( const HepRotation & r ) const {
155 return std::sqrt(distance2(r));
156}
157double HepRotationZ::howNear( const HepBoost & lt ) const {
158 return std::sqrt(distance2(lt));
159}
160double HepRotationZ::howNear( const HepLorentzRotation & lt ) const {
161 return std::sqrt(distance2(lt));
162}
163bool HepRotationZ::isNear(const HepRotationZ & r,double epsilon)const {
164 return (distance2(r) <= epsilon*epsilon);
165}
166bool HepRotationZ::isNear(const HepRotation & r,double epsilon)const {
167 return (distance2(r) <= epsilon*epsilon);
168}
169bool HepRotationZ::isNear( const HepBoost & lt,double epsilon) const {
170 return (distance2(lt) <= epsilon*epsilon);
171}
173 double epsilon) const {
174 return (distance2(lt) <= epsilon*epsilon);
175}
176
177double HepRotationZ::norm2() const {
178 return 2.0 - 2.0 * its_c;
179}
180
181std::ostream & HepRotationZ::print( std::ostream & os ) const {
182 os << "\nRotation about Z (" << its_d <<
183 ") [cos d = " << its_c << " sin d = " << its_s << "]\n";
184 return os;
185}
186
187} // namespace CLHEP
188
void set(double x, double y, double z)
HepBoost & set(double betaX, double betaY, double betaZ)
Definition Boost.cc:23
void decompose(Hep3Vector &boost, HepAxisAngle &rotation) const
double xy() const
double distance2(const HepRotationZ &r) const
Definition RotationZ.cc:124
double yz() const
double psi() const
Definition RotationZ.cc:51
double norm2() const
Definition RotationZ.cc:177
HepAxisAngle axisAngle() const
double phi() const
Definition RotationZ.cc:43
double xz() const
double thetaX() const
Definition RotationZ.cc:81
bool isNear(const HepRotationZ &r, double epsilon=Hep4RotationInterface::tolerance) const
Definition RotationZ.cc:163
double zz() const
double thetaZ() const
Definition RotationZ.cc:91
double xx() const
double zx() const
double phiX() const
Definition RotationZ.cc:67
static double proper(double delta)
double yy() const
HepRotationZ & set(double delta)
Definition RotationZ.cc:36
void setDelta(double delta)
Definition RotationZ.cc:96
double phiZ() const
Definition RotationZ.cc:76
void decompose(HepAxisAngle &rotation, Hep3Vector &boost) const
Definition RotationZ.cc:101
double phiY() const
Definition RotationZ.cc:72
HepEulerAngles eulerAngles() const
Definition RotationZ.cc:55
double thetaY() const
Definition RotationZ.cc:86
std::ostream & print(std::ostream &os) const
Definition RotationZ.cc:181
double yx() const
double theta() const
Definition RotationZ.cc:47
double zy() const
double howNear(const HepRotationZ &r) const
Definition RotationZ.cc:151
double zz() const
double yx() const
double xx() const
double yy() const
double xy() const