Rotation matrix. More...

#include <JRotation3D.hh>

Inheritance diagram for JGEOMETRY3D::JRotation3D:

Public Types
enum	JDerivative_t { THETA, PHI }

Public Member Functions
	JRotation3D ()
	Default constructor (= identity matrix). More...

	JRotation3D (const JAngle3D &dir)
	Constructor. More...

	JRotation3D (const JAngle3D &dir, const JDerivative_t &dev)
	Constructor. More...

	JRotation3D (const JRotation3X &R)
	Constructor. More...

	JRotation3D (const JRotation3Y &R)
	Constructor. More...

	JRotation3D (const JRotation3Z &R)
	Constructor. More...

const JRotation3D &	getRotation () const
	Get rotation. More...

JRotation3D &	transpose ()
	Transpose. More...

JRotation3D &	mul (const JRotation3D &A, const JRotation3D &B)
	Matrix multiplication. More...

void	rotate (double &__x, double &__y, double &__z) const
	Rotate. More...

void	rotate_back (double &__x, double &__y, double &__z) const
	Rotate back. More...

JMatrix3D &	setIdentity ()
	Set to identity matrix. More...

void	set (const JMatrix3D &A)
	Set matrix. More...

JMatrix3D &	reset ()
	Set matrix to the null matrix. More...

JMatrix3D &	negate ()
	Negate matrix. More...

JMatrix3D &	add (const JMatrix3D &A)
	Matrix addition. More...

JMatrix3D &	sub (const JMatrix3D &A)
	Matrix subtraction. More...

JMatrix3D &	mul (const double factor)
	Scale matrix. More...

JMatrix3D &	mul (const JMatrix3D &A, const JMatrix3D &B)
	Matrix multiplication. More...

JMatrix3D &	mul (const JNullType &object)
	Multiply with object. More...

JMatrix3D &	div (const double factor)
	Scale matrix. More...

bool	equals (const JMatrix3D &A, const double eps=std::numeric_limits< double >::min()) const
	Equality. More...

bool	isIdentity (const double eps=std::numeric_limits< double >::min()) const
	Test identity. More...

double	getDeterminant () const
	Get determinant of matrix. More...

void	transform (double &__x, double &__y, double &__z) const
	Transform. More...

JFirst_t &	mul (const JSecond_t &object)
	Multiply with object. More...

Static Public Member Functions
static const JMatrix3D &	getInstance ()
	Get reference to unique instance of this class object. More...

static const JMatrix3D &	getIdentity ()
	Get reference to unique instance of this class object. More...

Public Attributes
double	a00

double	a01

double	a02

double	a10

double	a11

double	a12

double	a20

double	a21

double	a22

Detailed Description

Rotation matrix.

Definition at line 108 of file JRotation3D.hh.

Member Enumeration Documentation

enum JGEOMETRY3D::JRotation3D::JDerivative_t

Enumerator
THETA
PHI

Definition at line 116 of file JRotation3D.hh.

116 { THETA, PHI };

JGEOMETRY3D::JRotation3D::THETA

Definition: JRotation3D.hh:116

JGEOMETRY3D::JRotation3D::PHI

Definition: JRotation3D.hh:116

Constructor & Destructor Documentation

JGEOMETRY3D::JRotation3D::JRotation3D ( )

inline

Default constructor (= identity matrix).

Definition at line 122 of file JRotation3D.hh.

                   :
       JMatrix3D()
     {
       setIdentity();
     }

JGEOMETRY3D::JRotation3D::JRotation3D ( const JAngle3D & dir )

inline

Constructor.

The matrix is defined such that the rotation of a vector in the given direction ends up along the z-axis and the back rotation of a vector parallel to the z-axis ends up in the given direction.

Parameters

dir direction

Definition at line 137 of file JRotation3D.hh.

                                      :
       JMatrix3D()
     {
       const double ct = cos(dir.getTheta());
       const double st = sin(dir.getTheta());
       const double cp = cos(dir.getPhi());
       const double sp = sin(dir.getPhi());
 
       a00 =  ct*cp;  a01 =  ct*sp;  a02 = -st;
       a10 = -sp;     a11 =  cp;     a12 = 0.0;
       a20 =  st*cp;  a21 =  st*sp;  a22 = +ct;
     }

JGEOMETRY3D::JRotation3D::JRotation3D	(	const JAngle3D &	dir,
		const JDerivative_t &	dev
	)

inline

Constructor.

The matrix is defined such that the rotation of a vector in the given direction ends up along the z-axis and the back rotation of a vector parallel to the z-axis ends up in the given direction.

Parameters

dir	direction
dev	derivative

Definition at line 160 of file JRotation3D.hh.

                                           :
       JMatrix3D()
     {
       const double ct = cos(dir.getTheta());
       const double st = sin(dir.getTheta());
       const double cp = cos(dir.getPhi());
       const double sp = sin(dir.getPhi());
 
       switch (dev) {
 
       case THETA:
 
         a00 = -st*cp;  a01 = -st*sp;  a02 = -ct;
         a10 =   0.0;   a11 =   0.0;   a12 = 0.0;
         a20 =  ct*cp;  a21 =  ct*sp;  a22 = -st;
 
         break;
 
       case PHI:
 
         a00 = -ct*sp;  a01 =  ct*cp;  a02 = 0.0;
         a10 = -cp;     a11 = -sp;     a12 = 0.0;
         a20 = -st*sp;  a21 =  st*cp;  a22 = 0.0;
 
         break;
       }
     }

JGEOMETRY3D::JRotation3D::JRotation3D ( const JRotation3X & R )

inline

Constructor.

Parameters

R	2D rotation matrix around X-axis

Definition at line 195 of file JRotation3D.hh.

                                       :
       JMatrix3D()
     {
       a00 =  1.0;   a01 =  0.0;     a02 =  0.0;
       a10 =  0.0;   a11 =  R.a00;   a12 =  R.a01;
       a20 =  0.0;   a21 =  R.a10;   a22 =  R.a11;
     }

JGEOMETRY3D::JRotation3D::JRotation3D ( const JRotation3Y & R )

inline

Constructor.

Parameters

R	2D rotation matrix around Y-axis

Definition at line 209 of file JRotation3D.hh.

                                       :
       JMatrix3D()
     {
       a00 =  R.a00;  a01 =  0.0;    a02 =  R.a01;
       a10 =  0.0;    a11 =  1.0;    a12 =  0.0;
       a20 =  R.a10;  a21 =  0.0;    a22 =  R.a11;
     }

JGEOMETRY3D::JRotation3D::JRotation3D ( const JRotation3Z & R )

inline

Constructor.

Parameters

R	2D rotation matrix around Z-axis

Definition at line 223 of file JRotation3D.hh.

                                       :
       JMatrix3D()
     {
       a00 =  R.a00;  a01 =  R.a01;  a02 =  0.0;
       a10 =  R.a10;  a11 =  R.a11;  a12 =  0.0;
       a20 =  0.0;    a21 =  0.0;    a22 =  1.0;
     }

Member Function Documentation

const JRotation3D& JGEOMETRY3D::JRotation3D::getRotation ( ) const

inline

Get rotation.

Returns: rotation

Definition at line 237 of file JRotation3D.hh.

     {
       return static_cast<const JRotation3D&>(*this);
     }

JRotation3D& JGEOMETRY3D::JRotation3D::transpose ( )

inline

Transpose.

Definition at line 246 of file JRotation3D.hh.

     {
       static_cast<JMatrix3D&>(*this).transpose();
 
       return *this;
     }

JRotation3D& JGEOMETRY3D::JRotation3D::mul	(	const JRotation3D &	A,
		const JRotation3D &	B
	)

inline

Matrix multiplication.

Parameters

A	matrix
B	matrix

Returns: this matrix

Definition at line 261 of file JRotation3D.hh.

     {
       static_cast<JMatrix3D&>(*this).mul(A, B);
 
       return *this;
     }      

void JGEOMETRY3D::JRotation3D::rotate	(	double &	__x,
		double &	__y,
		double &	__z
	)		const

inline

Rotate.

Parameters

__x	x value
__y	y value
__z	z value

Definition at line 277 of file JRotation3D.hh.

     {
       const double x = a00 * __x  +  a01 * __y  +  a02 * __z;
       const double y = a10 * __x  +  a11 * __y  +  a12 * __z;
       const double z = a20 * __x  +  a21 * __y  +  a22 * __z;
 
       __x = x;
       __y = y;
       __z = z;
     }

void JGEOMETRY3D::JRotation3D::rotate_back	(	double &	__x,
		double &	__y,
		double &	__z
	)		const

inline

Rotate back.

Parameters

__x	x value
__y	y value
__z	z value

Definition at line 296 of file JRotation3D.hh.

     {
       const double x = a00 * __x  +  a10 * __y  +  a20 * __z;
       const double y = a01 * __x  +  a11 * __y  +  a21 * __z;
       const double z = a02 * __x  +  a12 * __y  +  a22 * __z;
 
       __x = x;
       __y = y;
       __z = z;
     }

static const JMatrix3D& JMATH::JMatrix3D::getInstance ( )

inlinestaticinherited

Get reference to unique instance of this class object.

Returns: zero matrix

Definition at line 78 of file JMath/JMatrix3D.hh.

     {
       static JMatrix3D matrix;
 
       return matrix;
     }

JMatrix3D& JMATH::JMatrix3D::setIdentity ( )

inlineinherited

Set to identity matrix.

Returns: this matrix

Definition at line 91 of file JMath/JMatrix3D.hh.

     {
       a00 = 1.0;  a01 = 0.0;  a02 = 0.0;
       a10 = 0.0;  a11 = 1.0;  a12 = 0.0;
       a20 = 0.0;  a21 = 0.0;  a22 = 1.0;
 
       return *this;
     }

static const JMatrix3D& JMATH::JMatrix3D::getIdentity ( )

inlinestaticinherited

Get reference to unique instance of this class object.

Returns: identity matrix

Definition at line 106 of file JMath/JMatrix3D.hh.

     {
       static JMatrix3D matrix(JMatrix3D().setIdentity());
 
       return matrix;
     }

void JMATH::JMatrix3D::set ( const JMatrix3D & A )

inlineinherited

Set matrix.

Parameters

A matrix

Definition at line 119 of file JMath/JMatrix3D.hh.

     {
       static_cast<JMatrix3D&>(*this) = A;
     }

JMatrix3D& JMATH::JMatrix3D::reset ( )

inlineinherited

Set matrix to the null matrix.

Returns: this matrix

Definition at line 130 of file JMath/JMatrix3D.hh.

     {
       *this = JMatrix3D();
 
       return *this;
     }

JMatrix3D& JMATH::JMatrix3D::negate ( )

inlineinherited

Negate matrix.

Returns: -this matrix

Definition at line 160 of file JMath/JMatrix3D.hh.

     {
       a00 = -a00;  a01 = -a01;  a02 = -a02;
       a10 = -a10;  a11 = -a11;  a12 = -a12;
       a20 = -a20;  a21 = -a21;  a22 = -a22;
 
       return *this;
     }

JMatrix3D& JMATH::JMatrix3D::add ( const JMatrix3D & A )

inlineinherited

Matrix addition.

Parameters

A matrix

Returns: this matrix + A

Definition at line 176 of file JMath/JMatrix3D.hh.

     {
       a00 += A.a00;  a01 += A.a01;  a02 += A.a02;
       a10 += A.a10;  a11 += A.a11;  a12 += A.a12;
       a20 += A.a20;  a21 += A.a21;  a22 += A.a22;
   
       return *this;
     }

JMatrix3D& JMATH::JMatrix3D::sub ( const JMatrix3D & A )

inlineinherited

Matrix subtraction.

Parameters

A matrix

Returns: this matrix - A

Definition at line 192 of file JMath/JMatrix3D.hh.

     {
       a00 -= A.a00;  a01 -= A.a01;  a02 -= A.a02;
       a10 -= A.a10;  a11 -= A.a11;  a12 -= A.a12;
       a20 -= A.a20;  a21 -= A.a21;  a22 -= A.a22;
   
       return *this;
     }

JMatrix3D& JMATH::JMatrix3D::mul ( const double factor )

inlineinherited

Scale matrix.

Parameters

factor factor

Returns: this matrix * factor

Definition at line 208 of file JMath/JMatrix3D.hh.

     {
       a00 *= factor; a01 *= factor; a02 *= factor;
       a10 *= factor; a11 *= factor; a12 *= factor;
       a20 *= factor; a21 *= factor; a22 *= factor;
 
       return *this;
     }

JMatrix3D& JMATH::JMatrix3D::mul	(	const JMatrix3D &	A,
		const JMatrix3D &	B
	)

inlineinherited

Matrix multiplication.

Parameters

A	matrix
B	matrix

Returns: this matrix

Definition at line 241 of file JMath/JMatrix3D.hh.

     {
       a00 = A.a00 * B.a00  +  A.a01 * B.a10  +  A.a02 * B.a20;
       a01 = A.a00 * B.a01  +  A.a01 * B.a11  +  A.a02 * B.a21;
       a02 = A.a00 * B.a02  +  A.a01 * B.a12  +  A.a02 * B.a22;
       
       a10 = A.a10 * B.a00  +  A.a11 * B.a10  +  A.a12 * B.a20;
       a11 = A.a10 * B.a01  +  A.a11 * B.a11  +  A.a12 * B.a21;
       a12 = A.a10 * B.a02  +  A.a11 * B.a12  +  A.a12 * B.a22;
       
       a20 = A.a20 * B.a00  +  A.a21 * B.a10  +  A.a22 * B.a20;
       a21 = A.a20 * B.a01  +  A.a21 * B.a11  +  A.a22 * B.a21;
       a22 = A.a20 * B.a02  +  A.a21 * B.a12  +  A.a22 * B.a22;
       
       return *this;
     }

JMatrix3D & JMATH::JMath< JMatrix3D , JNullType >::mul ( const JNullType & object )

inlineinherited

Multiply with object.

Parameters

object object

Returns: result object

Definition at line 273 of file JMath.hh.

     {
       return static_cast<JFirst_t&>(*this) = JCalculator<JFirst_t>::calculator.mul(static_cast<const JFirst_t&>(*this), object);
     }

JMatrix3D& JMATH::JMatrix3D::div ( const double factor )

inlineinherited

Scale matrix.

Parameters

factor factor

Returns: this matrix / factor

Definition at line 224 of file JMath/JMatrix3D.hh.

     {
       a00 /= factor; a01 /= factor; a02 /= factor;
       a10 /= factor; a11 /= factor; a12 /= factor;
       a20 /= factor; a21 /= factor; a22 /= factor;
 
       return *this;
     }

bool JMATH::JMatrix3D::equals	(	const JMatrix3D &	A,
		const double	eps = `std::numeric_limits<double>::min()`
	)		const

inlineinherited

Equality.

Parameters

A	matrix
eps	numerical precision

Returns: true if matrices identical; else false

Definition at line 267 of file JMath/JMatrix3D.hh.

     {
       return (fabs(a00 - A.a00) <= eps  &&
               fabs(a01 - A.a01) <= eps  &&
               fabs(a02 - A.a02) <= eps  &&
               fabs(a10 - A.a10) <= eps  &&
               fabs(a11 - A.a11) <= eps  &&
               fabs(a12 - A.a12) <= eps  &&
               fabs(a20 - A.a20) <= eps  &&
               fabs(a21 - A.a21) <= eps  &&
               fabs(a22 - A.a22) <= eps);
     }

bool JMATH::JMatrix3D::isIdentity ( const double eps = std::numeric_limits<double>::min() ) const

inlineinherited

Test identity.

Parameters

eps	numerical precision

Returns: true if identity matrix; else false

Definition at line 288 of file JMath/JMatrix3D.hh.

     {
       return equals(getIdentity(), eps);
     }

double JMATH::JMatrix3D::getDeterminant ( ) const

inlineinherited

Get determinant of matrix.

Returns: determinant of matrix

Definition at line 299 of file JMath/JMatrix3D.hh.

     {
       double det = 0.0;
 
       det += a00 * (a11 * a22 - a21 * a12);
       det -= a01 * (a10 * a22 - a20 * a12);
       det += a02 * (a10 * a21 - a20 * a11);
 
       return det;
     }

void JMATH::JMatrix3D::transform	(	double &	__x,
		double &	__y,
		double &	__z
	)		const

inlineinherited

Transform.

Parameters

__x	x value
__y	y value
__z	z value

Definition at line 318 of file JMath/JMatrix3D.hh.

     {
       const double x = a00 * __x  +  a01 * __y  +  a02 * __z;
       const double y = a10 * __x  +  a11 * __y  +  a12 * __z;
       const double z = a20 * __x  +  a21 * __y  +  a22 * __z;
 
       __x = x;
       __y = y;
       __z = z;
     }

template<class JFirst_t, class JSecond_t = JNullType>

JFirst_t& JMATH::JMath< JFirst_t, JSecond_t >::mul ( const JSecond_t & object )

inlineinherited

Multiply with object.

Parameters

object object

Returns: result object

Definition at line 273 of file JMath.hh.

     {
       return static_cast<JFirst_t&>(*this) = JCalculator<JFirst_t>::calculator.mul(static_cast<const JFirst_t&>(*this), object);
     }

Member Data Documentation

double JMATH::JMatrix3D::a00

inherited

Definition at line 385 of file JMath/JMatrix3D.hh.

double JMATH::JMatrix3D::a01

inherited

Definition at line 385 of file JMath/JMatrix3D.hh.

double JMATH::JMatrix3D::a02

inherited

Definition at line 385 of file JMath/JMatrix3D.hh.

double JMATH::JMatrix3D::a10

inherited

Definition at line 386 of file JMath/JMatrix3D.hh.

double JMATH::JMatrix3D::a11

inherited

Definition at line 386 of file JMath/JMatrix3D.hh.

double JMATH::JMatrix3D::a12

inherited

Definition at line 386 of file JMath/JMatrix3D.hh.

double JMATH::JMatrix3D::a20

inherited

Definition at line 387 of file JMath/JMatrix3D.hh.

double JMATH::JMatrix3D::a21

inherited

Definition at line 387 of file JMath/JMatrix3D.hh.

double JMATH::JMatrix3D::a22

inherited

Definition at line 387 of file JMath/JMatrix3D.hh.

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

JRotation3D.hh

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation