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Translation3D.h
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1 // @(#)root/mathcore:$Id$
2 // Authors: W. Brown, M. Fischler, L. Moneta 2005
3 
4 /**********************************************************************
5  * *
6  * Copyright (c) 2005 , LCG ROOT MathLib Team *
7  * *
8  * *
9  **********************************************************************/
10 
11 // Header file for class Translation3D
12 //
13 // Created by: Lorenzo Moneta October 21 2005
14 //
15 //
16 #ifndef ROOT_Math_GenVector_Translation3D
17 #define ROOT_Math_GenVector_Translation3D 1
18 
19 
21 
22 #include "Math/GenVector/Plane3D.h"
23 
25 
27 
28 #include <iostream>
29 #include <type_traits>
30 
31 namespace ROOT {
32 
33 namespace Math {
34 
35 namespace Impl {
36 
37 //____________________________________________________________________________________________________
38 /**
39  Class describing a 3 dimensional translation. It can be combined (using the operator *)
40  with the ROOT::Math::Rotation3D classes and ROOT::Math::Transform3D to obtained combined
41  transformations and to operate on points and vectors.
42  Note that a the translation applied to a Vector object (DisplacementVector3D and LorentzVector classes)
43  performes a noop, i.e. it returns the same vector. A translation can be applied only to the Point objects
44  (PositionVector3D classes).
45 
46  @ingroup GenVector
47 
48 */
49 
50 template <typename T = double>
52 
53 public:
54  typedef T Scalar;
55 
57 
58  /**
59  Default constructor ( zero translation )
60  */
62 
63  /**
64  Construct given a pair of pointers or iterators defining the
65  beginning and end of an array of 3 Scalars representing the z,y,z of the translation vector
66  */
67  template<class IT>
68  Translation3D(IT begin, IT end)
69  {
70  fVect.SetCoordinates(begin,end);
71  }
72 
73  /**
74  Construct from x,y,z values representing the translation
75  */
76  Translation3D(T dx, T dy, T dz) : fVect(Vector(dx, dy, dz)) {}
77 
78  /**
79  Construct from any Displacement vector in ant tag and coordinate system
80  */
81  template<class CoordSystem, class Tag>
83  fVect(Vector(v.X(),v.Y(),v.Z()))
84  { }
85 
86 
87  /**
88  Construct transformation from one coordinate system defined one point (the origin)
89  to a new coordinate system defined by other point (origin )
90  @param p1 point defining origin of original reference system
91  @param p2 point defining origin of transformed reference system
92 
93  */
94  template <class CoordSystem, class Tag>
96  : fVect(p2 - p1)
97  { }
98 
99 
100  // use compiler generated copy ctor, copy assignmet and dtor
101 
102 
103  // ======== Components ==============
104 
105  /**
106  return a const reference to the underline vector representing the translation
107  */
108  const Vector & Vect() const { return fVect; }
109 
110  /**
111  Set the 3 components given an iterator to the start of
112  the desired data, and another to the end (3 past start).
113  */
114  template<class IT>
115  void SetComponents(IT begin, IT end) {
116  fVect.SetCoordinates(begin,end);
117  }
118 
119  /**
120  Get the 3 components into data specified by an iterator begin
121  and another to the end of the desired data (12 past start).
122  */
123  template<class IT>
124  void GetComponents(IT begin, IT end) const {
125  fVect.GetCoordinates(begin,end);
126  }
127 
128  /**
129  Get the 3 matrix components into data specified by an iterator begin
130  */
131  template<class IT>
132  void GetComponents(IT begin) const {
133  fVect.GetCoordinates(begin);
134  }
135 
136 
137  /**
138  Set the components from 3 scalars
139  */
140  void SetComponents(T dx, T dy, T dz) { fVect.SetCoordinates(dx, dy, dz); }
141 
142  /**
143  Get the components into 3 scalars
144  */
145  void GetComponents(T &dx, T &dy, T &dz) const { fVect.GetCoordinates(dx, dy, dz); }
146 
147  /**
148  Set the XYZ vector components from 3 scalars
149  */
150  void SetXYZ(T dx, T dy, T dz) { fVect.SetXYZ(dx, dy, dz); }
151 
152  // operations on points and vectors
153 
154 
155  /**
156  Transformation operation for Position Vector in any coordinate system and default tag
157  */
158  template<class CoordSystem, class Tag >
160  return PositionVector3D<CoordSystem, Tag>(p.X() + fVect.X(), p.Y() + fVect.Y(), p.Z() + fVect.Z());
161  }
162  /**
163  Transformation operation
164  */
165  template <class CoordSystem, class Tag>
167  {
168  return operator()(v);
169  }
170 
171  /**
172  Transformation operation for Displacement Vector in any coordinate system and default tag
173  For the Displacement Vectors no translation apply so return the vector itself
174  */
175  template<class CoordSystem, class Tag >
177  return v;
178  }
179  /**
180  Transformation operation
181  */
182  template <class CoordSystem, class Tag>
184  {
185  return operator()(v);
186  }
187 
188  /**
189  Transformation operation for points between different coordinate system tags
190  */
191  template<class CoordSystem, class Tag1, class Tag2 >
194  tmp.SetXYZ( p1.X(), p1.Y(), p1.Z() );
195  p2 = operator()(tmp);
196  }
197 
198  /**
199  Transformation operation for Displacement Vector of different coordinate systems
200  */
201  template <class CoordSystem, class Tag1, class Tag2>
203  {
204  // just copy v1 in v2
205  v2.SetXYZ(v1.X(), v1.Y(), v1.Z());
206  }
207 
208  /**
209  Transformation operation for a Lorentz Vector in any coordinate system
210  A LorentzVector contains a displacement vector so no translation applies as well
211  */
212  template <class CoordSystem>
214  {
215  return q;
216  }
217  /**
218  Transformation operation
219  */
220  template <class CoordSystem>
222  {
223  return operator()(q);
224  }
225 
226  /**
227  Transformation on a 3D plane
228  */
229  Plane3D<T> operator()(const Plane3D<T> &plane) const
230  {
231  // transformations on a 3D plane
232  const Vector n = plane.Normal();
233  // take a point on the plane. Use origin projection on the plane
234  // ( -ad, -bd, -cd) if (a**2 + b**2 + c**2 ) = 1
235  const T d = plane.HesseDistance();
236  PositionVector3D<Cartesian3D<T>> p(-d * n.X(), -d * n.Y(), -d * n.Z());
237  return PLANE(operator()(n), operator()(p));
238  }
239 
240  /**
241  multiply (combine) with another transformation in place
242  */
244  {
245  fVect+= t.Vect();
246  return *this;
247  }
248 
249  /**
250  multiply (combine) two transformations
251  */
253 
254  /**
255  Invert the transformation in place
256  */
257  void Invert() {
258  SetComponents( -fVect.X(), -fVect.Y(),-fVect.Z() );
259  }
260 
261  /**
262  Return the inverse of the transformation.
263  */
264  Translation3D<T> Inverse() const { return Translation3D<T>(-fVect.X(), -fVect.Y(), -fVect.Z()); }
265 
266  /**
267  Equality/inequality operators
268  */
269  bool operator==(const Translation3D<T> &rhs) const
270  {
271  if( fVect != rhs.fVect ) return false;
272  return true;
273  }
274 
275  bool operator!=(const Translation3D<T> &rhs) const { return !operator==(rhs); }
276 
277 private:
278 
279  Vector fVect; // internal 3D vector representing the translation
280 
281 };
282 
283 
284 
285 
286 
287 // global functions
288 
289 // TODO - I/O should be put in the manipulator form
290 
291 template <class T>
292 std::ostream &operator<<(std::ostream &os, const Translation3D<T> &t)
293 {
294  // TODO - this will need changing for machine-readable issues
295  // and even the human readable form needs formatiing improvements
296 
297  T m[3];
298  t.GetComponents(m, m + 3);
299  return os << "\n" << m[0] << " " << m[1] << " " << m[2] << "\n";
300 }
301 
302 // need a function Transform = Translation * Rotation ???
303 
304 } // end namespace Impl
305 
306 // typedefs for double and float versions
309 
310 } // end namespace Math
311 
312 } // end namespace ROOT
313 
314 
315 #endif /* ROOT_Math_GenVector_Translation3D */
Class describing a generic LorentzVector in the 4D space-time, using the specified coordinate syste...
Definition: LorentzVector.h:59
DisplacementVector3D< Cartesian3D< T >, DefaultCoordinateSystemTag > Vector
Definition: Translation3D.h:56
bool operator==(const Translation3D< T > &rhs) const
Equality/inequality operators.
DisplacementVector3D< CoordSystem, Tag > & SetCoordinates(const Scalar src[])
Set internal data based on a C-style array of 3 Scalar numbers.
Translation3D< T > Inverse() const
Return the inverse of the transformation.
Scalar HesseDistance() const
Return the Hesse Distance (distance from the origin) of the plane or the d coefficient expressed in ...
Definition: Plane3D.h:162
Translation3D(T dx, T dy, T dz)
Construct from x,y,z values representing the translation.
Definition: Translation3D.h:76
auto * m
Definition: textangle.C:8
DisplacementVector3D< CoordSystem, Tag > & SetXYZ(Scalar a, Scalar b, Scalar c)
set the values of the vector from the cartesian components (x,y,z) (if the vector is held in polar or...
VSD Structures.
Definition: StringConv.hxx:21
void Invert()
Invert the transformation in place.
Vector Normal() const
Return normal vector to the plane as Cartesian DisplacementVector.
Definition: Plane3D.h:156
Translation3D(const PositionVector3D< CoordSystem, Tag > &p1, const PositionVector3D< CoordSystem, Tag > &p2)
Construct transformation from one coordinate system defined one point (the origin) to a new coordinat...
Definition: Translation3D.h:95
double T(double x)
Definition: ChebyshevPol.h:34
DisplacementVector3D< CoordSystem, Tag > operator*(const DisplacementVector3D< CoordSystem, Tag > &v) const
Transformation operation.
PositionVector3D< CoordSystem, Tag > operator()(const PositionVector3D< CoordSystem, Tag > &p) const
Transformation operation for Position Vector in any coordinate system and default tag...
Class describing a generic position vector (point) in 3 dimensions.
Translation3D(IT begin, IT end)
Construct given a pair of pointers or iterators defining the beginning and end of an array of 3 Scala...
Definition: Translation3D.h:68
Translation3D< T > operator*(const Translation3D< T > &t) const
multiply (combine) two transformations
Translation3D(const DisplacementVector3D< CoordSystem, Tag > &v)
Construct from any Displacement vector in ant tag and coordinate system.
Definition: Translation3D.h:82
void GetComponents(IT begin, IT end) const
Get the 3 components into data specified by an iterator begin and another to the end of the desired d...
Scalar X() const
Cartesian X, converting if necessary from internal coordinate system.
LorentzVector< CoordSystem > operator()(const LorentzVector< CoordSystem > &q) const
Transformation operation for a Lorentz Vector in any coordinate system A LorentzVector contains a dis...
Scalar Z() const
Cartesian Z, converting if necessary from internal coordinate system.
Scalar Y() const
Cartesian Y, converting if necessary from internal coordinate system.
Plane3D< T > operator()(const Plane3D< T > &plane) const
Transformation on a 3D plane.
void Transform(const PositionVector3D< CoordSystem, Tag1 > &p1, PositionVector3D< CoordSystem, Tag2 > &p2) const
Transformation operation for points between different coordinate system tags.
Class describing a 3 dimensional translation.
Definition: Translation3D.h:51
Translation3D()
Default constructor ( zero translation )
Definition: Translation3D.h:61
Scalar Z() const
Cartesian Z, converting if necessary from internal coordinate system.
Class describing a generic displacement vector in 3 dimensions.
void SetXYZ(T dx, T dy, T dz)
Set the XYZ vector components from 3 scalars.
void SetComponents(IT begin, IT end)
Set the 3 components given an iterator to the start of the desired data, and another to the end (3 pa...
Scalar X() const
Cartesian X, converting if necessary from internal coordinate system.
const Vector & Vect() const
return a const reference to the underline vector representing the translation
void GetComponents(T &dx, T &dy, T &dz) const
Get the components into 3 scalars.
void Transform(const DisplacementVector3D< CoordSystem, Tag1 > &v1, DisplacementVector3D< CoordSystem, Tag2 > &v2) const
Transformation operation for Displacement Vector of different coordinate systems. ...
PositionVector3D< CoordSystem, Tag > operator*(const PositionVector3D< CoordSystem, Tag > &v) const
Transformation operation.
void GetCoordinates(Scalar &a, Scalar &b, Scalar &c) const
get internal data into 3 Scalar numbers
#define d(i)
Definition: RSha256.hxx:102
Translation3D< T > & operator*=(const Translation3D< T > &t)
multiply (combine) with another transformation in place
Namespace for new Math classes and functions.
LorentzVector< CoordSystem > operator*(const LorentzVector< CoordSystem > &q) const
Transformation operation.
void GetComponents(IT begin) const
Get the 3 matrix components into data specified by an iterator begin.
Scalar Y() const
Cartesian Y, converting if necessary from internal coordinate system.
PositionVector3D< CoordSystem, Tag > & SetXYZ(Scalar a, Scalar b, Scalar c)
set the values of the vector from the cartesian components (x,y,z) (if the vector is held in polar or...
Impl::Translation3D< float > Translation3DF
Class describing a geometrical plane in 3 dimensions.
Definition: Plane3D.h:51
DefaultCoordinateSystemTag Default tag for identifying any coordinate system.
float * q
Definition: THbookFile.cxx:87
Impl::Translation3D< double > Translation3D
void SetComponents(T dx, T dy, T dz)
Set the components from 3 scalars.
const Int_t n
Definition: legend1.C:16
bool operator!=(const Translation3D< T > &rhs) const