JCompassMatrix.hh

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#ifndef __JDETECTOR__JCOMPASSMATRIX__
#define __JDETECTOR__JCOMPASSMATRIX__
 
#include <cmath>
 
#include "JGeometry3D/JRotation3D.hh"
#include "JDetector/JCompass.hh"
 
 
/**
 * \author mdejong
 */
 
namespace JDETECTOR {}
namespace JPP { using namespace JDETECTOR; }
 
namespace JDETECTOR {
 
  using JGEOMETRY3D::JRotation3D;
 
 
  /**
   * Compass matrix
   *
   * The Compass matrix is a genuine 3D rotation matrix, i.e.
   * the inverse of a Compass matrix is equal to its tranpose.
   *
   * The Compass angles are defined as follows:
   *
   *    -# pitch      2D rotation around X  -axis;
   *    -# roll       2D rotation around Y' -axis;
   *    -# yaw        2D rotation around Z''-axis;
   */
  class JCompassMatrix :
    public JRotation3D
  {
  public:
    /**
     * Default constructor (= identity matrix).
     */
    JCompassMatrix() :
      JRotation3D()
    {}
 
 
    /**
     * Constructor.
     *
     * \param  compass  compass
     */
    JCompassMatrix(const JCompass& compass) :
      JRotation3D()
    {
      using namespace JGEOMETRY3D;
 
      const JRotation3D Rx = JRotation3X(compass.getPitch());
      const JRotation3D Ry = JRotation3Y(compass.getRoll());
      const JRotation3D Rz = JRotation3Z(compass.getYaw());
 
      set(Rz * Ry * Rx);
    }
  };
}
 
#endif