// -*- mode: c++ -*-
//
// $Id: BrCoordinateSystem.h,v 1.2 2002/02/26 08:58:48 cholm Exp $
// $Author: cholm $
// $Date: 2002/02/26 08:58:48 $
// $Copyright: (C) 2002 BRAHMS Collaboration <brahmlib@rhic.bnl.gov>
//
//////////////////////////////////////////////////////////////////////////////
//
//  BrCoordinateSysten
//
//  3D Coordinate systems and related transformations.
//  Part of the Geometry classes Points, Line, Lines, Planes.
//
//  Author:   F.Videbaek
//  Created:  November 1998
//
//
/////////////////////////////////////////////////////////////////////////////
#ifndef BRAT_BrCoordinateSystem
#define BRAT_BrCoordinateSystem

 
#include <iostream.h>
#ifndef ROOT_TObject
#include "TObject.h"
#endif
#ifndef BRAT_BrRotMatrix
#include "BrRotMatrix.h"
#endif
#ifndef BRAT_BrVector3D
#include "BrVector3D.h"
#endif


class BrCoordinateSystem : public TObject 
{
public:

  // constructors and destructors
  //
  BrCoordinateSystem();
  BrCoordinateSystem(const BrVector3D&, const BrRotMatrix&);
  ~BrCoordinateSystem(){};

  BrCoordinateSystem& BrCoordinateSystem::operator=(const BrCoordinateSystem& system); 
  BrCoordinateSystem(const BrCoordinateSystem& system) :
    fOrigin(system.fOrigin) , fRotMatrix(system.fRotMatrix), 
    fInverseRotMatrix(system.fInverseRotMatrix) {};
  
public:
  // access methods
  //
  BrVector3D GetOrigin() const {return fOrigin;};
      
  void SetOrigin(const BrVector3D& vector) { fOrigin = vector;};
  void SetRotMatrix(const BrRotMatrix& rotm) { 
    fRotMatrix = rotm; SetInverseMatrix();}
   
  //
  // Class operations
  //
  const BrRotMatrix* GetRotMatrix() const {return &fRotMatrix;};
  const BrRotMatrix* GetInverseRotMatrix() const {return &fInverseRotMatrix;};
  BrVector3D RotateToMaster(const BrVector3D&) const;
  BrVector3D RotateFromMaster(const BrVector3D&) const;
  BrVector3D TransformToMaster(const BrVector3D&) const;
  BrVector3D TransformFromMaster(const BrVector3D&) const;  
  void List();
  virtual void Print(Option_t* option="") const ;
  //  BrVector3D TransLateToMaster(const BrVector3D&);
  //  BrVector3D TransLateFromMaster(const BrVector3D&); 	       
	
  
  static BrCoordinateSystem SetRelativeSystem(const BrCoordinateSystem& master, 
					      const BrCoordinateSystem& daughter);

private:
  
  BrVector3D fOrigin;             //  Origin for system in Master system 
  BrRotMatrix fRotMatrix;         //  Rotation matrix for the system.
  BrRotMatrix fInverseRotMatrix;  //  Inverse Rotation matrix for the system

  void SetInverseMatrix();
  
  
  ClassDef(BrCoordinateSystem,1)
    
};
    
//
// Related Global functions
//

ostream& operator<<(ostream& str, const BrCoordinateSystem&);
 
#endif
//  $Log: BrCoordinateSystem.h,v $
//  Revision 1.2  2002/02/26 08:58:48  cholm
//  Added const'ness to many methods - needed by ISO C++
//
//  Revision 1.1.1.1  2001/06/21 14:55:20  hagel
//  Initial revision of brat2
//
//  Revision 1.4  1999/12/23 15:55:38  videbaek
//  Added the SetRelativeSystem
//  Fully debugged.
//
//  Revision 1.3  1999/01/21 23:23:24  hagel
//  1. Changed convention for checking includes.  Current convention is:
//     BRAT_Br...... eg BRAT_BrModule ala ROOT.
//  2. Added CVS logs to .h files that didn't have them.
//  3. Moved checking of include definition to first line for easier reading
//  4. Put checks before all includes in the include files as per BRAT specifications
//  5. Added BrGeantHeader to Geant Makefile
//  6. All changes have been checked to compile on NT ala Cygnus
//
//  Revision 1.2  1998/12/21 20:32:03  videbaek
//  coordinate system changes mainly
//
//  Revision 1.1  1998/12/01 20:49:57  videbaek
//  Added several classes to Geometry. Updated source and makefile(s)
//  - BrLine3D
//  - BrCoordinateSystem
//  - BrRotMatrix
//
//