#ifndef ROOT_TRotation
#define ROOT_TRotation
#include "TObject.h"
#ifndef ROOT_TVector3
#include "TVector3.h"
#endif
class TQuaternion;
class TRotation : public TObject {
public:
class TRotationRow {
public:
inline TRotationRow(const TRotation &, int);
inline Double_t operator [] (int) const;
private:
const TRotation * fRR;
int fII;
};
TRotation();
TRotation(const TRotation &);
TRotation(const TQuaternion &);
virtual ~TRotation() {;};
inline Double_t XX() const;
inline Double_t XY() const;
inline Double_t XZ() const;
inline Double_t YX() const;
inline Double_t YY() const;
inline Double_t YZ() const;
inline Double_t ZX() const;
inline Double_t ZY() const;
inline Double_t ZZ() const;
inline TRotationRow operator [] (int) const;
Double_t operator () (int, int) const;
inline TRotation & operator = (const TRotation &);
inline Bool_t operator == (const TRotation &) const;
inline Bool_t operator != (const TRotation &) const;
inline Bool_t IsIdentity() const;
inline TVector3 operator * (const TVector3 &) const;
TRotation operator * (const TRotation &) const;
inline TRotation & operator *= (const TRotation &);
inline TRotation & Transform(const TRotation &);
inline TRotation Inverse() const;
inline TRotation & Invert();
TRotation & RotateX(Double_t);
TRotation & RotateY(Double_t);
TRotation & RotateZ(Double_t);
TRotation & Rotate(Double_t, const TVector3 &);
inline TRotation & Rotate(Double_t, const TVector3 *);
TRotation & RotateAxes(const TVector3 & newX,
const TVector3 & newY,
const TVector3 & newZ);
Double_t PhiX() const;
Double_t PhiY() const;
Double_t PhiZ() const;
Double_t ThetaX() const;
Double_t ThetaY() const;
Double_t ThetaZ() const;
void AngleAxis(Double_t &, TVector3 &) const;
inline TRotation & SetToIdentity();
TRotation & SetXEulerAngles(Double_t phi, Double_t theta, Double_t psi);
void SetXPhi(Double_t);
void SetXTheta(Double_t);
void SetXPsi(Double_t);
TRotation & RotateXEulerAngles(Double_t phi, Double_t theta, Double_t psi);
Double_t GetXPhi(void) const;
Double_t GetXTheta(void) const;
Double_t GetXPsi(void) const;
TRotation & SetYEulerAngles(Double_t phi, Double_t theta, Double_t psi);
void SetYPhi(Double_t);
void SetYTheta(Double_t);
void SetYPsi(Double_t);
TRotation & RotateYEulerAngles(Double_t phi, Double_t theta, Double_t psi);
Double_t GetYPhi(void) const;
Double_t GetYTheta(void) const;
Double_t GetYPsi(void) const;
TRotation & SetXAxis(const TVector3& axis);
TRotation & SetXAxis(const TVector3& axis, const TVector3& xyPlane);
TRotation & SetYAxis(const TVector3& axis);
TRotation & SetYAxis(const TVector3& axis, const TVector3& yzPlane);
TRotation & SetZAxis(const TVector3& axis);
TRotation & SetZAxis(const TVector3& axis, const TVector3& zxPlane);
void MakeBasis(TVector3& xAxis, TVector3& yAxis, TVector3& zAxis) const;
protected:
TRotation(Double_t, Double_t, Double_t, Double_t, Double_t,
Double_t, Double_t, Double_t, Double_t);
Double_t fxx, fxy, fxz, fyx, fyy, fyz, fzx, fzy, fzz;
ClassDef(TRotation,1)
};
inline Double_t TRotation::XX() const { return fxx; }
inline Double_t TRotation::XY() const { return fxy; }
inline Double_t TRotation::XZ() const { return fxz; }
inline Double_t TRotation::YX() const { return fyx; }
inline Double_t TRotation::YY() const { return fyy; }
inline Double_t TRotation::YZ() const { return fyz; }
inline Double_t TRotation::ZX() const { return fzx; }
inline Double_t TRotation::ZY() const { return fzy; }
inline Double_t TRotation::ZZ() const { return fzz; }
inline TRotation::TRotationRow::TRotationRow
(const TRotation & r, int i) : fRR(&r), fII(i) {}
inline Double_t TRotation::TRotationRow::operator [] (int jj) const {
return fRR->operator()(fII,jj);
}
inline TRotation::TRotationRow TRotation::operator [] (int i) const {
return TRotationRow(*this, i);
}
inline TRotation & TRotation::operator = (const TRotation & m) {
fxx = m.fxx;
fxy = m.fxy;
fxz = m.fxz;
fyx = m.fyx;
fyy = m.fyy;
fyz = m.fyz;
fzx = m.fzx;
fzy = m.fzy;
fzz = m.fzz;
return *this;
}
inline Bool_t TRotation::operator == (const TRotation& m) const {
return (fxx == m.fxx && fxy == m.fxy && fxz == m.fxz &&
fyx == m.fyx && fyy == m.fyy && fyz == m.fyz &&
fzx == m.fzx && fzy == m.fzy && fzz == m.fzz) ? kTRUE : kFALSE;
}
inline Bool_t TRotation::operator != (const TRotation &m) const {
return (fxx != m.fxx || fxy != m.fxy || fxz != m.fxz ||
fyx != m.fyx || fyy != m.fyy || fyz != m.fyz ||
fzx != m.fzx || fzy != m.fzy || fzz != m.fzz) ? kTRUE : kFALSE;
}
inline Bool_t TRotation::IsIdentity() const {
return (fxx == 1.0 && fxy == 0.0 && fxz == 0.0 &&
fyx == 0.0 && fyy == 1.0 && fyz == 0.0 &&
fzx == 0.0 && fzy == 0.0 && fzz == 1.0) ? kTRUE : kFALSE;
}
inline TRotation & TRotation::SetToIdentity() {
fxx = fyy = fzz = 1.0;
fxy = fxz = fyx = fyz = fzx = fzy = 0.0;
return *this;
}
inline TVector3 TRotation::operator * (const TVector3 & p) const {
return TVector3(fxx*p.X() + fxy*p.Y() + fxz*p.Z(),
fyx*p.X() + fyy*p.Y() + fyz*p.Z(),
fzx*p.X() + fzy*p.Y() + fzz*p.Z());
}
inline TRotation & TRotation::operator *= (const TRotation & m) {
return *this = operator * (m);
}
inline TRotation & TRotation::Transform(const TRotation & m) {
return *this = m.operator * (*this);
}
inline TRotation TRotation::Inverse() const {
return TRotation(fxx, fyx, fzx, fxy, fyy, fzy, fxz, fyz, fzz);
}
inline TRotation & TRotation::Invert() {
return *this=Inverse();
}
inline TRotation & TRotation::Rotate(Double_t psi, const TVector3 * p) {
return Rotate(psi, *p);
}
#endif
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