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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).
 
 JRotation3D (const JAngle3D &dir)
 Constructor.
 
 JRotation3D (const JVersor3D &dir)
 Constructor.
 
 JRotation3D (const JVersor3Z &dir)
 Constructor.
 
 JRotation3D (const JRotation3X &R)
 Constructor.
 
 JRotation3D (const JRotation3Y &R)
 Constructor.
 
 JRotation3D (const JRotation3Z &R)
 Constructor.
 
 JRotation3D (const JQuaternion3D &Q)
 Constructor.
 
const JRotation3D & getRotation () const
 Get rotation.
 
 operator JQuaternion3D () const
 Type conversion operator.
 
JRotation3D & transpose ()
 Transpose.
 
JRotation3D & mul (const JRotation3D &A, const JRotation3D &B)
 Matrix multiplication.
 
void rotate (double &__x, double &__y, double &__z) const
 Rotate.
 
void rotate_back (double &__x, double &__y, double &__z) const
 Rotate back.
 
JMatrix3D & setIdentity ()
 Set to identity matrix.
 
void set (const JMatrix3D &A)
 Set matrix.
 
JMatrix3D & reset ()
 Set matrix to the null matrix.
 
JMatrix3D & negate ()
 Negate matrix.
 
JMatrix3D & add (const JMatrix3D &A)
 Matrix addition.
 
JMatrix3D & sub (const JMatrix3D &A)
 Matrix subtraction.
 
JMatrix3D & mul (const double factor)
 Scale matrix.
 
JMatrix3D & mul (const JMatrix3D &A, const JMatrix3D &B)
 Matrix multiplication.
 
JMatrix3D & mul (const JSecond_t &object)
 Multiply with object.
 
JMatrix3D & div (const double factor)
 Scale matrix.
 
bool equals (const JMatrix3D &A, const double eps=std::numeric_limits< double >::min()) const
 Equality.
 
bool isIdentity (const double eps=std::numeric_limits< double >::min()) const
 Test identity.
 
double getDeterminant () const
 Get determinant of matrix.
 
void transform (double &__x, double &__y, double &__z) const
 Transform.
 
JFirst_t & mul (const JSecond_t &object)
 Multiply with object.
 

Static Public Member Functions

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

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 }

◆ 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 }

◆ 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 }

◆ 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 }

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::JRotation3D
JRotation3D()
Default constructor (= identity matrix).
Definition JRotation3D.hh:122

◆ 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 }
GAUSS_LAGUERRE::a
const double a
Definition JQuadrature.cc:42

◆ 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:
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