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//____________________________________________________________________ // // Coordinate system class for Brat Geometry. A coordinate system is // defined by it's origin and a transformation matrix. The definition // of the matrix is such that // Vector(MasterSystem) = Rotmatrix*Vector(Local System)+Translation // Vector(LocalSystem) = InverseRotMatrix*[vector(msater)-translation]; // Both the rotmatrix and the inverse is stored internally for fast access. //____________________________________________________________________ // // $Id: BrCoordinateSystem.cxx,v 1.2 2002/02/26 08:58:43 cholm Exp $ // $Author: cholm $ // $Date: 2002/02/26 08:58:43 $ // $Copyright: (C) 2002 BRAHMS Collaboration <brahmlib@rhic.bnl.gov> // #ifndef BRAT_BrCoordinateSystem #include "BrCoordinateSystem.h" #endif #include <iostream.h> #include <math.h> //____________________________________________________________________ ClassImp(BrCoordinateSystem); //_____________________________________________________________________________ BrCoordinateSystem::BrCoordinateSystem() { // default constrcutor. Do not use normally. The master system // is generated. Used by Root i/o (probably). } //_____________________________________________________________________________ BrCoordinateSystem::BrCoordinateSystem(const BrVector3D& vector, const BrRotMatrix& rotmatrix){ // Normal constructor. // The vector defines the origin, and the rotation matrix the transformation between // systems. // fOrigin = vector; fRotMatrix = rotmatrix; SetInverseMatrix(); } //_____________________________________________________________________________ BrVector3D BrCoordinateSystem::RotateToMaster(const BrVector3D& vector) const { // // Get the vector in the Master System. // BrVector3D tmp; Double_t const* RotMatrix; RotMatrix = fRotMatrix.GetMatrix(); tmp[0] = RotMatrix[0]*vector[0]+RotMatrix[3]*vector[1]+RotMatrix[6]*vector[2]; tmp[1] = RotMatrix[1]*vector[0]+RotMatrix[4]*vector[1]+RotMatrix[7]*vector[2]; tmp[2] = RotMatrix[2]*vector[0]+RotMatrix[5]*vector[1]+RotMatrix[8]*vector[2]; return tmp; } //_____________________________________________________________________________ BrVector3D BrCoordinateSystem::RotateFromMaster(const BrVector3D& vector) const{ BrVector3D tmp; const Double_t* InverseRotMatrix = fInverseRotMatrix.GetMatrix(); tmp[0] = InverseRotMatrix[0]*vector[0]+InverseRotMatrix[3]*vector[1]+InverseRotMatrix[6]*vector[2]; tmp[1] = InverseRotMatrix[1]*vector[0]+InverseRotMatrix[4]*vector[1]+InverseRotMatrix[7]*vector[2]; tmp[2] = InverseRotMatrix[2]*vector[0]+InverseRotMatrix[5]*vector[1]+InverseRotMatrix[8]*vector[2]; return tmp; } //_____________________________________________________________________________ BrVector3D BrCoordinateSystem::TransformToMaster(const BrVector3D& vector) const{ // // Consider the Vector as representing a point that is transformed to the // Master system. // BrVector3D local; const Double_t* RotMatrix; RotMatrix = fRotMatrix.GetMatrix(); local[0] = RotMatrix[0]*vector[0]+RotMatrix[3]*vector[1]+RotMatrix[6]*vector[2]; local[1] = RotMatrix[1]*vector[0]+RotMatrix[4]*vector[1]+RotMatrix[7]*vector[2]; local[2] = RotMatrix[2]*vector[0]+RotMatrix[5]*vector[1]+RotMatrix[8]*vector[2]; local += fOrigin; return local; } //_____________________________________________________________________________ BrVector3D BrCoordinateSystem::TransformFromMaster(const BrVector3D& master) const { BrVector3D vector(master); BrVector3D local; vector -= fOrigin; const Double_t* InverseRotMatrix = fInverseRotMatrix.GetMatrix(); local[0] = InverseRotMatrix[0]*vector[0]+InverseRotMatrix[3]*vector[1]+InverseRotMatrix[6]*vector[2]; local[1] = InverseRotMatrix[1]*vector[0]+InverseRotMatrix[4]*vector[1]+InverseRotMatrix[7]*vector[2]; local[2] = InverseRotMatrix[2]*vector[0]+InverseRotMatrix[5]*vector[1]+InverseRotMatrix[8]*vector[2]; return local; } //_____________________________________________________________________________ void BrCoordinateSystem::SetInverseMatrix(){ // // private member function to check and set inverse matrix // //#define TESTCODE const Double_t* RotMatrix; RotMatrix = fRotMatrix.GetMatrix(); Double_t *InverseRotMatrix = fInverseRotMatrix.GetMatrix(); InverseRotMatrix[0]= (RotMatrix[4] * RotMatrix[8] - RotMatrix[5] * RotMatrix[7]); InverseRotMatrix[3]= -1. * (RotMatrix[3] * RotMatrix[8] - RotMatrix[5] * RotMatrix[6]); InverseRotMatrix[6]= (RotMatrix[3] * RotMatrix[7] - RotMatrix[6] * RotMatrix[4]); InverseRotMatrix[1]= -1. * (RotMatrix[1] * RotMatrix[8] - RotMatrix[2] * RotMatrix[7]); InverseRotMatrix[4]= (RotMatrix[0] * RotMatrix[8] - RotMatrix[2] * RotMatrix[6]); InverseRotMatrix[7]= -1. * (RotMatrix[0] * RotMatrix[7] - RotMatrix[1] * RotMatrix[6]); InverseRotMatrix[2]= (RotMatrix[1] * RotMatrix[5] - RotMatrix[4] * RotMatrix[2]); InverseRotMatrix[5]= -1. * (RotMatrix[0] * RotMatrix[5] - RotMatrix[3] * RotMatrix[2]); InverseRotMatrix[8]= (RotMatrix[0] * RotMatrix[4] - RotMatrix[3] * RotMatrix[1]); #ifdef TESTCODE cout << " Inverse matrix, determinant method: " << endl; for (Int_t i=0; i<3; i++){ cout << " Unit vector: " << i << "( "; for (Int_t j=0; j<3; j++){ Int_t index = i*3+j; cout << InverseRotMatrix[index] << " "; } cout << ")" << endl; } #endif /* InverseRotMatrix[0]=RotMatrix[0]; InverseRotMatrix[1]=RotMatrix[3]; InverseRotMatrix[2]=RotMatrix[6]; InverseRotMatrix[3]=RotMatrix[1]; InverseRotMatrix[4]=RotMatrix[4]; InverseRotMatrix[5]=RotMatrix[7]; InverseRotMatrix[6]=RotMatrix[2]; InverseRotMatrix[7]=RotMatrix[5]; InverseRotMatrix[8]=RotMatrix[8]; */ #ifdef TESTCODE { cout << " Inverse matrix, transpose method: " << endl; for (Int_t i=0; i<3; i++){ cout << " Unit vector: " << i << "( "; for (Int_t j=0; j<3; j++){ Int_t index = i*3+j; cout << InverseRotMatrix[index] << " "; } cout << ")" << endl; } } #endif #ifdef TESTCODE // // Used only for development of code. Is ok! for(int j=0; j<3; j++){ for(int k=0;k<3;k++){ double sum=0.0; for(int i=0; i<3 ;i++){ sum += ( RotMatrix[i*3+j] ) * (InverseRotMatrix[k*3+i]) ; } cout <<"Sigma("<< j <<","<< k << ") = " << sum << endl; } } #endif } //______________________________________ void BrCoordinateSystem::List() { Warning("List", "Obsolete - use Print instead"); } //______________________________________ void BrCoordinateSystem::Print(Option_t* option) const { cout << "Coordinate system: " << endl << fOrigin << endl; cout << fRotMatrix << endl; } // // Static Function // //_______________________________________________________________________ BrCoordinateSystem BrCoordinateSystem::SetRelativeSystem(const BrCoordinateSystem& master, const BrCoordinateSystem& daughter){ // Return a coordinate system that describes the daughter system // relative to the master system. This can be used when transforming // between two relative systems. Example // BrCoordinateSystem t1_system; // BrCoordinateSystem d1_system; // BrCoordinateSystem t1d1_system // t1d1_system = SetRelativeSystem(d1_system, t1_system); // BrVector3D d1_vector = t1td->TransformToMaster(t1_vector); // gives the vector (from T1) in the D1 system. // See also the tests TestCoord.cxx in the testdirectory. // BrCoordinateSystem tmp; BrVector3D vdiff = daughter.fOrigin-master.fOrigin; // Origin for coordinate system in Master system Double_t *rotmatrix = tmp.fRotMatrix.GetMatrix(); const Double_t *master_matrix = master.fInverseRotMatrix.GetMatrix(); const Double_t *daughter_matrix = daughter.fRotMatrix.GetMatrix(); for(int i=0;i<3;i++){ for(int j=0;j<3;j++){ Double_t sum=0; for (int k=0;k<3;k++) sum+= master_matrix[i+3*k]*daughter_matrix[k+j*3]; rotmatrix[i+j*3]=sum; } } BrVector3D origin; { for(int i=0; i<3;i++){ Double_t sum=0; for(int k=0;k<3;k++) { sum+=master_matrix[i+k*3]*vdiff(k); } origin[i]=sum; } } tmp.SetOrigin(origin); tmp.SetInverseMatrix(); return tmp; } //_____________________________________________________________________ BrCoordinateSystem & BrCoordinateSystem::operator =(const BrCoordinateSystem& system){ // // assignement operator // fOrigin = system.fOrigin; fRotMatrix = system.fRotMatrix; fInverseRotMatrix = system.fInverseRotMatrix; return *this; } //______________________________________________________________ ostream& operator<< (ostream & os, const BrCoordinateSystem& system) { os << "Coordinatesystem: " << system.GetOrigin() << "n" ; os << *(system.GetRotMatrix()) << "n"; os << *(system.GetInverseRotMatrix()) << "n"; return os; } ////////////////////////////////////////////////////////////////////////////////////// // // $Log: BrCoordinateSystem.cxx,v $ // Revision 1.2 2002/02/26 08:58:43 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 1.6 2000/10/10 18:10:29 videbaek // Changed the method name GetRotMatrix to GetMatrix to be symmetric // with SetMatrix and to distinguish from BrCoorDianteSystem->GetRotMatrix // that return a BrRotMatrix. // // Revision 1.5 2000/07/18 17:53:27 trine // Switched to subdeterminant method for calculating inverse matrix - more // general than the transpose. // // Revision 1.4 2000/07/16 19:46:17 videbaek // Addition for declaring a new rotmatrix by means of two exsisting. // Fixing of errors in inverse matrix fro non-simple rotations, and constructor for // Rotmatrix using Euler angles. All thanks to Trine Tveter. // // Revision 1.3 1999/12/23 15:55:45 videbaek // Added the SetRelativeSystem // Fully debugged. // // Revision 1.2 1998/12/21 20:32:04 videbaek // coordinate system changes mainly // // Revision 1.1 1998/12/01 20:50:11 videbaek // Added several classes to Geometry. Updated source and makefile(s) // - BrLine3D // - BrCoordinateSystem // - BrRotMatrix // // |
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Copyright ; 2002 BRAHMS Collaboration
<brahmlib@rcf.rhic.bnl.gov>
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