HepGeom::Rotate3D Class Reference

#include <Transform3D.h>

Inheritance diagram for HepGeom::Rotate3D:

Public Member Functions
	Rotate3D ()
	Rotate3D (const CLHEP::HepRotation &m)
	Rotate3D (double a, const Point3D< double > &p1, const Point3D< double > &p2)
	Rotate3D (double a, const Vector3D< double > &v)
	Rotate3D (const Point3D< double > &fr1, const Point3D< double > &fr2, const Point3D< double > &to1, const Point3D< double > &to2)
Public Member Functions inherited from HepGeom::Transform3D
	Transform3D ()
	Transform3D (const CLHEP::HepRotation &m, const CLHEP::Hep3Vector &v)
	Transform3D (const Point3D< double > &fr0, const Point3D< double > &fr1, const Point3D< double > &fr2, const Point3D< double > &to0, const Point3D< double > &to1, const Point3D< double > &to2)
	Transform3D (const Transform3D &m)
	~Transform3D ()
const Transform3D_row	operator[] (int) const
double	operator() (int, int) const
double	xx () const
double	xy () const
double	xz () const
double	yx () const
double	yy () const
double	yz () const
double	zx () const
double	zy () const
double	zz () const
double	dx () const
double	dy () const
double	dz () const
Transform3D &	operator= (const Transform3D &m)
void	setIdentity ()
Transform3D	inverse () const
Transform3D	operator* (const Transform3D &b) const
void	getDecomposition (Scale3D &scale, Rotate3D &rotation, Translate3D &translation) const
bool	isNear (const Transform3D &t, double tolerance=2.2E-14) const
CLHEP::HepRotation	getRotation () const
CLHEP::Hep3Vector	getTranslation () const
bool	operator== (const Transform3D &transform) const
bool	operator!= (const Transform3D &transform) const

Additional Inherited Members
Static Public Attributes inherited from HepGeom::Transform3D
static const Transform3D	Identity = Transform3D ()
Protected Member Functions inherited from HepGeom::Transform3D
	Transform3D (double XX, double XY, double XZ, double DX, double YX, double YY, double YZ, double DY, double ZX, double ZY, double ZZ, double DZ)
void	setTransform (double XX, double XY, double XZ, double DX, double YX, double YY, double YZ, double DY, double ZX, double ZY, double ZZ, double DZ)
Protected Attributes inherited from HepGeom::Transform3D
double	xx_
double	xy_
double	xz_
double	dx_
double	yx_
double	yy_
double	yz_
double	dy_
double	zx_
double	zy_
double	zz_
double	dz_

Detailed Description

Constructs a rotation transformation. This class provides additional constructors for Transform3D and should not be used as a separate class.

Example of use:

Transform3D m;
m = Rotate3D(30.*deg, HepVector3D(1.,1.,1.));

Author

Evgue.nosp@m.ni.T.nosp@m.chern.nosp@m.iaev.nosp@m.@cern.nosp@m..ch

Definition at line 374 of file Transform3D.h.

Constructor & Destructor Documentation

HepGeom::Rotate3D::Rotate3D ( )

inline

Default constructor: sets the Identity transformation.

Definition at line 378 of file Transform3D.h.

: Transform3D() {}

HepGeom::Rotate3D::Rotate3D ( const CLHEP::HepRotation &  m )

inline

Constructor from CLHEP::HepRotation.

HepGeom::Rotate3D::Rotate3D	(	double	a,
		const Point3D< double > &	p1,
		const Point3D< double > &	p2
	)

Constructor from angle and axis given by two points.

Parameters

a	angle of rotation
p1	begin point of the axis
p2	end point of the axis

Definition at line 231 of file Transform3D.cc.

References HepGeom::Transform3D::setTransform(), HepGeom::BasicVector3D< T >::x(), HepGeom::BasicVector3D< T >::y(), and HepGeom::BasicVector3D< T >::z().

                                         : Transform3D()
  /***********************************************************************
   *                                                                     *
   * Name: Rotate3D::Rotate3D                       Date:    24.09.96 *
   * Author: E.Chernyaev (IHEP/Protvino)               Revised:          *
   *                                                                     *
   * Function: Create 3D Rotation through angle "a" (counterclockwise)   *
   *           around the axis p1->p2                                    *
   *                                                                     *
   ***********************************************************************/
  {
    if (a == 0) return;

    double cx = p2.x()-p1.x(), cy = p2.y()-p1.y(), cz = p2.z()-p1.z();
    double ll = std::sqrt(cx*cx + cy*cy + cz*cz); 
    if (ll == 0) {
      std::cerr << "Rotate3D: zero axis" << std::endl;
    }else{
      double cosa = std::cos(a), sina = std::sin(a);
      cx /= ll; cy /= ll; cz /= ll;   
    
      double txx = cosa + (1-cosa)*cx*cx;
      double txy =        (1-cosa)*cx*cy - sina*cz;
      double txz =        (1-cosa)*cx*cz + sina*cy;
    
      double tyx =        (1-cosa)*cy*cx + sina*cz;
      double tyy = cosa + (1-cosa)*cy*cy; 
      double tyz =        (1-cosa)*cy*cz - sina*cx;
    
      double tzx =        (1-cosa)*cz*cx - sina*cy;
      double tzy =        (1-cosa)*cz*cy + sina*cx;
      double tzz = cosa + (1-cosa)*cz*cz;
    
      double tdx = p1.x(), tdy = p1.y(), tdz = p1.z(); 
    
      setTransform(txx, txy, txz, tdx-txx*tdx-txy*tdy-txz*tdz,
           tyx, tyy, tyz, tdy-tyx*tdx-tyy*tdy-tyz*tdz,
           tzx, tzy, tzz, tdz-tzx*tdx-tzy*tdy-tzz*tdz);
    }
  }

HepGeom::Rotate3D::Rotate3D ( double  a, const Vector3D< double > &  v  )

inline

Constructor from angle and axis.

Parameters

a	angle of rotation
v	axis of rotation

HepGeom::Rotate3D::Rotate3D ( const Point3D< double > &  fr1, const Point3D< double > &  fr2, const Point3D< double > &  to1, const Point3D< double > &  to2  )

inline

Constructor for rotation given by original and rotated position of two points. It is assumed that there is no reflection.

Parameters

fr1	original position of 1st point
fr2	original position of 2nd point
to1	rotated position of 1st point
to2	rotated position of 2nd point

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

• Transform3D.h
• Transform3D.cc