Jpp  19.1.0
the software that should make you happy
Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
JGEOMETRY3D::JRotation3D Class Reference

Rotation matrix. More...

#include <JRotation3D.hh>

Inheritance diagram for JGEOMETRY3D::JRotation3D:
JMATH::JMatrix3D JMATH::JMath< JFirst_t, JSecond_t > JMATH::JMath< JMatrix3D > JLANG::JEquals< JFirst_t, JSecond_t > JDETECTOR::JRotation JGEOMETRY3D::JEulerMatrix3D JGEOMETRY3D::JTransformation3D

Public Member Functions

 JRotation3D ()
 Default constructor (= identity matrix). More...
 
 JRotation3D (const JAngle3D &dir)
 Constructor. More...
 
 JRotation3D (const JVersor3D &dir)
 Constructor. More...
 
 JRotation3D (const JVersor3Z &dir)
 Constructor. More...
 
 JRotation3D (const JRotation3X &R)
 Constructor. More...
 
 JRotation3D (const JRotation3Y &R)
 Constructor. More...
 
 JRotation3D (const JRotation3Z &R)
 Constructor. More...
 
 JRotation3D (const JQuaternion3D &Q)
 Constructor. More...
 
const JRotation3D & getRotation () const
 Get rotation. More...
 
 operator JQuaternion3D () const
 Type conversion operator. 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 JSecond_t &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 111 of file JRotation3D.hh.

Constructor & Destructor Documentation

◆ JRotation3D() [1/8]

JGEOMETRY3D::JRotation3D::JRotation3D ( )
inline

Default constructor (= identity matrix).

Definition at line 122 of file JRotation3D.hh.

122  :
123  JMatrix3D()
124  {
125  setIdentity();
126  }
JMATH::JMatrix3D::JMatrix3D
JMatrix3D()
Default constructor.
Definition: JMath/JMatrix3D.hh:44
JMATH::JMatrix3D::setIdentity
JMatrix3D & setIdentity()
Set to identity matrix.
Definition: JMath/JMatrix3D.hh:91

◆ JRotation3D() [2/8]

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
dirdirection

Definition at line 137 of file JRotation3D.hh.

137  :
138  JMatrix3D()
139  {
140  const double ct = cos(dir.getTheta());
141  const double st = sin(dir.getTheta());
142  const double cp = cos(dir.getPhi());
143  const double sp = sin(dir.getPhi());
144 
145  a00 = ct*cp; a01 = ct*sp; a02 = -st;
146  a10 = -sp; a11 = cp; a12 = 0.0;
147  a20 = st*cp; a21 = st*sp; a22 = +ct;
148  }
JGEOMETRY3D::JAngle3D::getTheta
double getTheta() const
Get theta angle.
Definition: JAngle3D.hh:86
JGEOMETRY3D::JAngle3D::getPhi
double getPhi() const
Get phi angle.
Definition: JAngle3D.hh:97

◆ JRotation3D() [3/8]

JGEOMETRY3D::JRotation3D::JRotation3D ( const JVersor3D &  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
dirdirection

Definition at line 159 of file JRotation3D.hh.

159  :
160  JMatrix3D()
161  {
162  const double ct = dir.getDZ();
163  const double st = sqrt((1.0 + ct)*(1.0 - ct));
164  const double phi = atan2(dir.getDY(), dir.getDX());
165  const double cp = cos(phi);
166  const double sp = sin(phi);
167 
168  a00 = ct*cp; a01 = ct*sp; a02 = -st;
169  a10 = -sp; a11 = cp; a12 = 0.0;
170  a20 = st*cp; a21 = st*sp; a22 = +ct;
171  }
JGEOMETRY3D::JVersor3D::getDY
double getDY() const
Get y direction.
Definition: JVersor3D.hh:106
JGEOMETRY3D::JVersor3D::getDX
double getDX() const
Get x direction.
Definition: JVersor3D.hh:95
JGEOMETRY3D::JVersor3D::getDZ
double getDZ() const
Get z direction.
Definition: JVersor3D.hh:117

◆ JRotation3D() [4/8]

JGEOMETRY3D::JRotation3D::JRotation3D ( const JVersor3Z &  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
dirdirection

Definition at line 182 of file JRotation3D.hh.

182  :
183  JMatrix3D()
184  {
185  const double ct = dir.getDZ();
186  const double st = sqrt((1.0 + ct)*(1.0 - ct));
187  const double phi = atan2(dir.getDY(), dir.getDX());
188  const double cp = cos(phi);
189  const double sp = sin(phi);
190 
191  a00 = ct*cp; a01 = ct*sp; a02 = -st;
192  a10 = -sp; a11 = cp; a12 = 0.0;
193  a20 = st*cp; a21 = st*sp; a22 = +ct;
194  }
JGEOMETRY3D::JVersor3Z::getDZ
double getDZ() const
Get z direction.
Definition: JVersor3Z.hh:169
JGEOMETRY3D::JVersor3Z::getDY
double getDY() const
Get y direction.
Definition: JVersor3Z.hh:158
JGEOMETRY3D::JVersor3Z::getDX
double getDX() const
Get x direction.
Definition: JVersor3Z.hh:147

◆ JRotation3D() [5/8]

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

Constructor.

Parameters
R2D rotation matrix around X-axis

Definition at line 202 of file JRotation3D.hh.

202  :
203  JMatrix3D()
204  {
205  a00 = 1.0; a01 = 0.0; a02 = 0.0;
206  a10 = 0.0; a11 = R.a00; a12 = R.a01;
207  a20 = 0.0; a21 = R.a10; a22 = R.a11;
208  }

◆ JRotation3D() [6/8]

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

Constructor.

Parameters
R2D rotation matrix around Y-axis

Definition at line 216 of file JRotation3D.hh.

216  :
217  JMatrix3D()
218  {
219  a00 = R.a00; a01 = 0.0; a02 = R.a01;
220  a10 = 0.0; a11 = 1.0; a12 = 0.0;
221  a20 = R.a10; a21 = 0.0; a22 = R.a11;
222  }

◆ JRotation3D() [7/8]

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

Constructor.

Parameters
R2D rotation matrix around Z-axis

Definition at line 230 of file JRotation3D.hh.

230  :
231  JMatrix3D()
232  {
233  a00 = R.a00; a01 = R.a01; a02 = 0.0;
234  a10 = R.a10; a11 = R.a11; a12 = 0.0;
235  a20 = 0.0; a21 = 0.0; a22 = 1.0;
236  }

◆ JRotation3D() [8/8]

JGEOMETRY3D::JRotation3D::JRotation3D ( const JQuaternion3D &  Q)
inline

Constructor.

Parameters
Qquaternion

Definition at line 244 of file JRotation3D.hh.

244  :
245  JMatrix3D()
246  {
247  const double a2 = Q.getA()*Q.getA();
248  const double b2 = Q.getB()*Q.getB();
249  const double c2 = Q.getC()*Q.getC();
250  const double d2 = Q.getD()*Q.getD();
251 
252  const double ab = Q.getA()*Q.getB();
253  const double ac = Q.getA()*Q.getC();
254  const double ad = Q.getA()*Q.getD();
255 
256  const double bc = Q.getB()*Q.getC();
257  const double bd = Q.getB()*Q.getD();
258 
259  const double cd = Q.getC()*Q.getD();
260 
261  a00 = a2 + b2 - c2 - d2; a01 = 2.0*bc - 2.0*ad; a02 = 2.0*bd + 2.0*ac;
262  a10 = 2.0*bc + 2.0*ad; a11 = a2 - b2 + c2 - d2; a12 = 2.0*cd - 2.0*ab;
263  a20 = 2.0*bd - 2.0*ac; a21 = 2.0*cd + 2.0*ab; a22 = a2 - b2 - c2 + d2;
264  }
JGEOMETRY3D::JQuaternion3D::getB
double getB() const
Get b value.
Definition: JQuaternion3D.hh:556
JGEOMETRY3D::JQuaternion3D::getD
double getD() const
Get d value.
Definition: JQuaternion3D.hh:578
JGEOMETRY3D::JQuaternion3D::getC
double getC() const
Get c value.
Definition: JQuaternion3D.hh:567
JGEOMETRY3D::JQuaternion3D::getA
double getA() const
Get a value.
Definition: JQuaternion3D.hh:545

Member Function Documentation

◆ getRotation()

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

Get rotation.

Returns
rotation

Definition at line 272 of file JRotation3D.hh.

273  {
274  return static_cast<const JRotation3D&>(*this);
275  }
JGEOMETRY3D::JRotation3D
Rotation matrix.
Definition: JRotation3D.hh:114

◆ operator JQuaternion3D()

JGEOMETRY3D::JRotation3D::operator JQuaternion3D ( ) const
inline

Type conversion operator.

Returns
quaternion

Definition at line 283 of file JRotation3D.hh.

284  {
285  const double q2 = 0.25 * (1.0 + a00 + a11 + a22);
286 
287  if (q2 > 0.0) {
288 
289  const double a = sqrt(q2);
290  const double w = 0.25 / a;
291  const double b = (a21 - a12) * w;
292  const double c = (a02 - a20) * w;
293  const double d = (a10 - a01) * w;
294 
295  return JQuaternion3D(a,b,c,d).normalise();
296  }
297 
298  return JQuaternion3D(1.0, 0.0, 0.0, 0.0);
299  }
JGEOMETRY3D::JQuaternion3D
Data structure for unit quaternion in three dimensions.
Definition: JQuaternion3D.hh:309
JGEOMETRY3D::JQuaternion3D::normalise
JQuaternion3D & normalise()
Normalise quaternion.
Definition: JQuaternion3D.hh:959
GAUSS_LAGUERRE::a
const double a
Definition: JQuadrature.cc:42
JTOOLS::w
data_type w[N+1][M+1]
Definition: JPolint.hh:867

◆ transpose()

JRotation3D& JGEOMETRY3D::JRotation3D::transpose ( )
inline

Transpose.

Definition at line 305 of file JRotation3D.hh.

306  {
307  static_cast<JMatrix3D&>(*this).transpose();
308 
309  return *this;
310  }

◆ mul() [1/5]

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

Matrix multiplication.

Parameters
Amatrix
Bmatrix
Returns
this matrix

Definition at line 320 of file JRotation3D.hh.

322  {
323  static_cast<JMatrix3D&>(*this).mul(A, B);
324 
325  return *this;
326  }

◆ rotate()

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

Rotate.

Parameters
__xx value
__yy value
__zz value

Definition at line 336 of file JRotation3D.hh.

337  {
338  const double x = a00 * __x + a01 * __y + a02 * __z;
339  const double y = a10 * __x + a11 * __y + a12 * __z;
340  const double z = a20 * __x + a21 * __y + a22 * __z;
341 
342  __x = x;
343  __y = y;
344  __z = z;
345  }

◆ rotate_back()

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

Rotate back.

Parameters
__xx value
__yy value
__zz value

Definition at line 355 of file JRotation3D.hh.

356  {
357  const double x = a00 * __x + a10 * __y + a20 * __z;
358  const double y = a01 * __x + a11 * __y + a21 * __z;
359  const double z = a02 * __x + a12 * __y + a22 * __z;
360 
361  __x = x;
362  __y = y;
363  __z = z;
364  }

◆ getInstance()

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.

79  {
80  static JMatrix3D matrix;
81 
82  return matrix;
83  }

◆ setIdentity()

JMatrix3D& JMATH::JMatrix3D::setIdentity ( )
inlineinherited

Set to identity matrix.

Returns
this matrix

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

92  {
93  a00 = 1.0; a01 = 0.0; a02 = 0.0;
94  a10 = 0.0; a11 = 1.0; a12 = 0.0;
95  a20 = 0.0; a21 = 0.0; a22 = 1.0;
96 
97  return *this;
98  }

◆ getIdentity()

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.

107  {
108  static JMatrix3D matrix(JMatrix3D().setIdentity());
109 
110  return matrix;
111  }

◆ set()

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

Set matrix.

Parameters
Amatrix

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

120  {
121  static_cast<JMatrix3D&>(*this) = A;
122  }

◆ reset()

JMatrix3D& JMATH::JMatrix3D::reset ( )
inlineinherited

Set matrix to the null matrix.

Returns
this matrix

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

131  {
132  *this = JMatrix3D();
133 
134  return *this;
135  }

◆ negate()

JMatrix3D& JMATH::JMatrix3D::negate ( )
inlineinherited

Negate matrix.

Returns
-this matrix

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

161  {
162  a00 = -a00; a01 = -a01; a02 = -a02;
163  a10 = -a10; a11 = -a11; a12 = -a12;
164  a20 = -a20; a21 = -a21; a22 = -a22;
165 
166  return *this;
167  }

◆ add()

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

Matrix addition.

Parameters
Amatrix
Returns
this matrix + A

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

177  {
178  a00 += A.a00; a01 += A.a01; a02 += A.a02;
179  a10 += A.a10; a11 += A.a11; a12 += A.a12;
180  a20 += A.a20; a21 += A.a21; a22 += A.a22;
181 
182  return *this;
183  }

◆ sub()

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

Matrix subtraction.

Parameters
Amatrix
Returns
this matrix - A

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

193  {
194  a00 -= A.a00; a01 -= A.a01; a02 -= A.a02;
195  a10 -= A.a10; a11 -= A.a11; a12 -= A.a12;
196  a20 -= A.a20; a21 -= A.a21; a22 -= A.a22;
197 
198  return *this;
199  }

◆ mul() [2/5]

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

Scale matrix.

Parameters
factorfactor
Returns
this matrix * factor

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

209  {
210  a00 *= factor; a01 *= factor; a02 *= factor;
211  a10 *= factor; a11 *= factor; a12 *= factor;
212  a20 *= factor; a21 *= factor; a22 *= factor;
213 
214  return *this;
215  }

◆ mul() [3/5]

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

Matrix multiplication.

Parameters
Amatrix
Bmatrix
Returns
this matrix

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

243  {
244  a00 = A.a00 * B.a00 + A.a01 * B.a10 + A.a02 * B.a20;
245  a01 = A.a00 * B.a01 + A.a01 * B.a11 + A.a02 * B.a21;
246  a02 = A.a00 * B.a02 + A.a01 * B.a12 + A.a02 * B.a22;
247 
248  a10 = A.a10 * B.a00 + A.a11 * B.a10 + A.a12 * B.a20;
249  a11 = A.a10 * B.a01 + A.a11 * B.a11 + A.a12 * B.a21;
250  a12 = A.a10 * B.a02 + A.a11 * B.a12 + A.a12 * B.a22;
251 
252  a20 = A.a20 * B.a00 + A.a21 * B.a10 + A.a22 * B.a20;
253  a21 = A.a20 * B.a01 + A.a21 * B.a11 + A.a22 * B.a21;
254  a22 = A.a20 * B.a02 + A.a21 * B.a12 + A.a22 * B.a22;
255 
256  return *this;
257  }

◆ mul() [4/5]

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

Multiply with object.

Parameters
objectobject
Returns
result object

Definition at line 354 of file JMath.hh.

355  {
356  return static_cast<JFirst_t&>(*this) = JFirst_t().mul(static_cast<const JFirst_t&>(*this), object);
357  }

◆ div()

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

Scale matrix.

Parameters
factorfactor
Returns
this matrix / factor

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

225  {
226  a00 /= factor; a01 /= factor; a02 /= factor;
227  a10 /= factor; a11 /= factor; a12 /= factor;
228  a20 /= factor; a21 /= factor; a22 /= factor;
229 
230  return *this;
231  }

◆ equals()

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

Equality.

Parameters
Amatrix
epsnumerical precision
Returns
true if matrices identical; else false

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

269  {
270  return (fabs(a00 - A.a00) <= eps &&
271  fabs(a01 - A.a01) <= eps &&
272  fabs(a02 - A.a02) <= eps &&
273  fabs(a10 - A.a10) <= eps &&
274  fabs(a11 - A.a11) <= eps &&
275  fabs(a12 - A.a12) <= eps &&
276  fabs(a20 - A.a20) <= eps &&
277  fabs(a21 - A.a21) <= eps &&
278  fabs(a22 - A.a22) <= eps);
279  }

◆ isIdentity()

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

Test identity.

Parameters
epsnumerical precision
Returns
true if identity matrix; else false

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

289  {
290  return equals(getIdentity(), eps);
291  }
JMATH::JMatrix3D::getIdentity
static const JMatrix3D & getIdentity()
Get reference to unique instance of this class object.
Definition: JMath/JMatrix3D.hh:106
JMATH::JMatrix3D::equals
bool equals(const JMatrix3D &A, const double eps=std::numeric_limits< double >::min()) const
Equality.
Definition: JMath/JMatrix3D.hh:267

◆ getDeterminant()

double JMATH::JMatrix3D::getDeterminant ( ) const
inlineinherited

Get determinant of matrix.

Returns
determinant of matrix

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

300  {
301  double det = 0.0;
302 
303  det += a00 * (a11 * a22 - a21 * a12);
304  det -= a01 * (a10 * a22 - a20 * a12);
305  det += a02 * (a10 * a21 - a20 * a11);
306 
307  return det;
308  }

◆ transform()

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

Transform.

Parameters
__xx value
__yy value
__zz value

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

319  {
320  const double x = a00 * __x + a01 * __y + a02 * __z;
321  const double y = a10 * __x + a11 * __y + a12 * __z;
322  const double z = a20 * __x + a21 * __y + a22 * __z;
323 
324  __x = x;
325  __y = y;
326  __z = z;
327  }

◆ mul() [5/5]

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

Multiply with object.

Parameters
objectobject
Returns
result object

Definition at line 354 of file JMath.hh.

355  {
356  return static_cast<JFirst_t&>(*this) = JFirst_t().mul(static_cast<const JFirst_t&>(*this), object);
357  }

Member Data Documentation

◆ a00

double JMATH::JMatrix3D::a00
inherited

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

◆ a01

double JMATH::JMatrix3D::a01
inherited

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

◆ a02

double JMATH::JMatrix3D::a02
inherited

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

◆ a10

double JMATH::JMatrix3D::a10
inherited

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

◆ a11

double JMATH::JMatrix3D::a11
inherited

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

◆ a12

double JMATH::JMatrix3D::a12
inherited

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

◆ a20

double JMATH::JMatrix3D::a20
inherited

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

◆ a21

double JMATH::JMatrix3D::a21
inherited

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

◆ a22

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:
Generated by doxygen 1.9.1