class ROOT::Math::Transform3D

 takes impl. from CLHEP ( E.Chernyaev). To be checked

 Name: Transform3D::inverse                     Date:    24.09.96
 Author: E.Chernyaev (IHEP/Protvino)            Revised:

 Function: Find inverse affine transformation.

set identity ( identity rotation and zero translation)

 assignment  from rotation + translation

 assign from only a rotation  (null translation)

 assign from a translation only (identity rotations)

 transformations on a 3D plane

Default constructor (identy rotation) + zero translation

Construct given a pair of pointers or iterators defining the
beginning and end of an array of 12 Scalars

Construct from a rotation and then a translation described by a Vector

Construct from a rotation and then a translation described by a Translation3D class

Construct from a rotation (any rotation object)  and then a translation
(represented by any DisplacementVector)
The requirements on the rotation and vector objects are that they can be transformed in a
Rotation3D class and in a Cartesian3D Vector

Construct from a rotation (any rotation object)  and then a translation
represented by a Translation3D class
The requirements on the rotation is that it can be transformed in a
Rotation3D class

Construct from a translation and then a rotation (inverse assignment)

 is equivalent from having first the rotation and then the translation vector rotated

Construct from a 3D Rotation only with zero translation

 convenience methods for the other rotations (cannot use templates for conflict with LA)

 TO DO: implement direct methods for axial rotations without going through Rotation3D

Construct from a translation only, represented by any DisplacementVector3D
and with an identity rotation

Construct from a linear algebra matrix of size at least 3x4,
which must support operator()(i,j) to obtain elements (0,0) thru (2,3).
The 3x3 sub-block is assumed to be the rotation part and the translations vector
are described by the 4-th column

Get the 12 matrix components into data specified by an iterator begin
and another to the end of the desired data (12 past start).

Get the 12 matrix components into data specified by an iterator begin

Get the rotation and translation vector representing the 3D transformation

 operations on points and vectors

Transformation operation for Position Vector in Cartesian coordinate
For a Position Vector first a rotatio and then a translation is applied

Transformation operation for Displacement Vectors in Cartesian coordinate
For the Displacement Vectors only the rotation applies - no translations

Return the inverse of the transformation.