Rotation class with the (3D) rotation represented by angles describing first a rotation of an angle phi (yaw) about the Z axis, followed by a rotation of an angle theta (pitch) about the new Y' axis, followed by a third rotation of an angle psi (roll) about the final X'' axis.

This is sometimes referred to as the Euler 321 sequence. It has not to be confused with the typical Goldstein definition of the Euler Angles (Z-X-Z or 313 sequence) which is used by the ROOT::Math::EulerAngles class.

Definition at line 71 of file RotationZYX.h.

Public Types
typedef double	Scalar

Public Member Functions
	RotationZYX ()
	Default constructor. More...

	RotationZYX (Scalar phi, Scalar theta, Scalar psi)
	Constructor from phi, theta and psi. More...

template<class IT >
	RotationZYX (IT begin, IT end)
	Construct given a pair of pointers or iterators defining the beginning and end of an array of three Scalars, to be treated as the angles phi, theta and psi. More...

void	Rectify ()
	Re-adjust components place angles in canonical ranges. More...

template<class OtherRotation >
	RotationZYX (const OtherRotation &r)
	Construct from another supported rotation type (see gv_detail::convert ) More...

template<class OtherRotation >
RotationZYX &	operator= (OtherRotation const &r)
	Assign from another supported rotation type (see gv_detail::convert ) More...

template<class IT >
void	SetComponents (IT begin, IT end)
	Set the three Euler angles given a pair of pointers or iterators defining the beginning and end of an array of three Scalars. More...

template<class IT >
void	GetComponents (IT begin, IT end) const
	Get the axis and then the angle into data specified by an iterator begin and another to the end of the desired data (4 past start). More...

template<class IT >
void	GetComponents (IT begin) const
	Get the axis and then the angle into data specified by an iterator begin. More...

void	SetComponents (Scalar phi, Scalar theta, Scalar psi)
	Set the components phi, theta, psi based on three Scalars. More...

void	GetComponents (Scalar &phi, Scalar &theta, Scalar &psi) const
	Get the components phi, theta, psi into three Scalars. More...

void	SetPhi (Scalar phi)
	Set Phi angle (Z rotation angle) More...

Scalar	Phi () const
	Return Phi angle (Z rotation angle) More...

void	SetTheta (Scalar theta)
	Set Theta angle (Y' rotation angle) More...

Scalar	Theta () const
	Return Theta angle (Y' rotation angle) More...

void	SetPsi (Scalar psi)
	Set Psi angle (X'' rotation angle) More...

Scalar	Psi () const
	Return Psi angle (X'' rotation angle) More...

template<class CoordSystem , class U >
DisplacementVector3D< CoordSystem, U >	operator() (const DisplacementVector3D< CoordSystem, U > &v) const
	Rotation operation on a displacement vector in any coordinate system and tag. More...

template<class CoordSystem , class U >
PositionVector3D< CoordSystem, U >	operator() (const PositionVector3D< CoordSystem, U > &v) const
	Rotation operation on a position vector in any coordinate system. More...

template<class CoordSystem >
LorentzVector< CoordSystem >	operator() (const LorentzVector< CoordSystem > &v) const
	Rotation operation on a Lorentz vector in any 4D coordinate system. More...

template<class ForeignVector >
ForeignVector	operator() (const ForeignVector &v) const
	Rotation operation on an arbitrary vector v. More...

template<class AVector >
AVector	operator* (const AVector &v) const
	Overload operator * for rotation on a vector. More...

void	Invert ()
	Invert a rotation in place. More...

RotationZYX	Inverse () const
	Return inverse of a rotation. More...

RotationZYX	operator* (const RotationZYX &e) const
	Multiply (combine) two rotations. More...

RotationZYX	operator* (const Rotation3D &r) const

RotationZYX	operator* (const AxisAngle &a) const

RotationZYX	operator* (const Quaternion &q) const

RotationZYX	operator* (const EulerAngles &q) const

RotationZYX	operator* (const RotationX &rx) const

RotationZYX	operator* (const RotationY &ry) const

RotationZYX	operator* (const RotationZ &rz) const

template<class R >
RotationZYX &	operator*= (const R &r)
	Post-Multiply (on right) by another rotation : T = T*R. More...

template<class R >
Scalar	Distance (const R &r) const
	Distance between two rotations. More...

bool	operator== (const RotationZYX &rhs) const
	Equality/inequality operators. More...

bool	operator!= (const RotationZYX &rhs) const

Static Private Member Functions
static double	Pi ()

Private Attributes
double	fPhi

double	fTheta

double	fPsi

#include <Math/GenVector/RotationZYX.h>

Member Typedef Documentation

typedef double ROOT::Math::RotationZYX::Scalar

Definition at line 75 of file RotationZYX.h.

Constructor & Destructor Documentation

ROOT::Math::RotationZYX::RotationZYX ( )

inline

Default constructor.

Definition at line 83 of file RotationZYX.h.

Referenced by operator*().

ROOT::Math::RotationZYX::RotationZYX	(	Scalar	phi,
		Scalar	theta,
		Scalar	psi
	)

inline

Constructor from phi, theta and psi.

Definition at line 88 of file RotationZYX.h.

template<class IT >

ROOT::Math::RotationZYX::RotationZYX	(	IT	begin,
		IT	end
	)

inline

Construct given a pair of pointers or iterators defining the beginning and end of an array of three Scalars, to be treated as the angles phi, theta and psi.

Definition at line 98 of file RotationZYX.h.

template<class OtherRotation >

ROOT::Math::RotationZYX::RotationZYX ( const OtherRotation & r )

inlineexplicit

Construct from another supported rotation type (see gv_detail::convert )

Definition at line 114 of file RotationZYX.h.

Member Function Documentation

template<class R >

Scalar ROOT::Math::RotationZYX::Distance ( const R & r ) const

inline

Distance between two rotations.

Definition at line 314 of file RotationZYX.h.

template<class IT >

void ROOT::Math::RotationZYX::GetComponents	(	IT	begin,
		IT	end
	)		const

inline

Get the axis and then the angle into data specified by an iterator begin and another to the end of the desired data (4 past start).

Definition at line 152 of file RotationZYX.h.

Referenced by ROOT::Math::gv_detail::convert().

template<class IT >

void ROOT::Math::RotationZYX::GetComponents ( IT begin ) const

inline

Get the axis and then the angle into data specified by an iterator begin.

Definition at line 166 of file RotationZYX.h.

void ROOT::Math::RotationZYX::GetComponents	(	Scalar &	phi,
		Scalar &	theta,
		Scalar &	psi
	)		const

inline

Get the components phi, theta, psi into three Scalars.

Definition at line 183 of file RotationZYX.h.

RotationZYX ROOT::Math::RotationZYX::Inverse ( ) const

inline

Return inverse of a rotation.

Definition at line 283 of file RotationZYX.h.

void ROOT::Math::RotationZYX::Invert ( )

Invert a rotation in place.

Definition at line 139 of file RotationZYX.cxx.

Referenced by Inverse().

bool ROOT::Math::RotationZYX::operator!= ( const RotationZYX & rhs ) const

inline

Definition at line 325 of file RotationZYX.h.

template<class CoordSystem , class U >

DisplacementVector3D<CoordSystem,U> ROOT::Math::RotationZYX::operator() ( const DisplacementVector3D< CoordSystem, U > & v ) const

inline

Rotation operation on a displacement vector in any coordinate system and tag.

Definition at line 225 of file RotationZYX.h.

Referenced by operator()(), and operator*().

template<class CoordSystem , class U >

PositionVector3D<CoordSystem, U> ROOT::Math::RotationZYX::operator() ( const PositionVector3D< CoordSystem, U > & v ) const

inline

Rotation operation on a position vector in any coordinate system.

Definition at line 234 of file RotationZYX.h.

template<class CoordSystem >

LorentzVector<CoordSystem> ROOT::Math::RotationZYX::operator() ( const LorentzVector< CoordSystem > & v ) const

inline

Rotation operation on a Lorentz vector in any 4D coordinate system.

Definition at line 245 of file RotationZYX.h.

template<class ForeignVector >

ForeignVector ROOT::Math::RotationZYX::operator() ( const ForeignVector & v ) const

inline

Rotation operation on an arbitrary vector v.

Preconditions: v must implement methods x(), y(), and z() and the arbitrary vector type must have a constructor taking (x,y,z)

Definition at line 259 of file RotationZYX.h.

template<class AVector >

AVector ROOT::Math::RotationZYX::operator* ( const AVector & v ) const

inline

Overload operator * for rotation on a vector.

Definition at line 270 of file RotationZYX.h.

RotationZYX ROOT::Math::RotationZYX::operator* ( const RotationZYX & e ) const

Multiply (combine) two rotations.

Definition at line 65 of file RotationZYX.cxx.

RotationZYX ROOT::Math::RotationZYX::operator* ( const Rotation3D & r ) const

Definition at line 50 of file RotationZYX.cxx.

RotationZYX ROOT::Math::RotationZYX::operator* ( const AxisAngle & a ) const

Definition at line 55 of file RotationZYX.cxx.

RotationZYX ROOT::Math::RotationZYX::operator* ( const Quaternion & q ) const

Definition at line 70 of file RotationZYX.cxx.

RotationZYX ROOT::Math::RotationZYX::operator* ( const EulerAngles & q ) const

Definition at line 60 of file RotationZYX.cxx.

RotationZYX ROOT::Math::RotationZYX::operator* ( const RotationX & rx ) const

Definition at line 75 of file RotationZYX.cxx.

RotationZYX ROOT::Math::RotationZYX::operator* ( const RotationY & ry ) const

Definition at line 80 of file RotationZYX.cxx.

RotationZYX ROOT::Math::RotationZYX::operator* ( const RotationZ & rz ) const

Definition at line 85 of file RotationZYX.cxx.

template<class R >

RotationZYX& ROOT::Math::RotationZYX::operator*= ( const R & r )

inline

Post-Multiply (on right) by another rotation : T = T*R.

Definition at line 308 of file RotationZYX.h.

template<class OtherRotation >

RotationZYX& ROOT::Math::RotationZYX::operator= ( OtherRotation const & r )

inline

Assign from another supported rotation type (see gv_detail::convert )

Definition at line 121 of file RotationZYX.h.

bool ROOT::Math::RotationZYX::operator== ( const RotationZYX & rhs ) const

inline

Equality/inequality operators.

Definition at line 319 of file RotationZYX.h.

Referenced by operator!=().

Scalar ROOT::Math::RotationZYX::Phi ( ) const

inline

Return Phi angle (Z rotation angle)

Definition at line 195 of file RotationZYX.h.

Referenced by ROOT::Math::operator<<(), and testTransform3D().

static double ROOT::Math::RotationZYX::Pi ( )

inlinestaticprivate

Definition at line 335 of file RotationZYX.h.

Referenced by operator*(), and Rectify().

Scalar ROOT::Math::RotationZYX::Psi ( ) const

inline

Return Psi angle (X'' rotation angle)

Definition at line 215 of file RotationZYX.h.

Referenced by ROOT::Math::operator<<(), and testTransform3D().

void ROOT::Math::RotationZYX::Rectify ( )

Re-adjust components place angles in canonical ranges.

Definition at line 109 of file RotationZYX.cxx.

Referenced by RotationZYX(), SetComponents(), SetPhi(), SetPsi(), and SetTheta().

template<class IT >

void ROOT::Math::RotationZYX::SetComponents	(	IT	begin,
		IT	end
	)

inline

Set the three Euler angles given a pair of pointers or iterators defining the beginning and end of an array of three Scalars.

Definition at line 135 of file RotationZYX.h.

Referenced by ROOT::Math::gv_detail::convert(), and RotationZYX().

void ROOT::Math::RotationZYX::SetComponents	(	Scalar	phi,
		Scalar	theta,
		Scalar	psi
	)

inline

Set the components phi, theta, psi based on three Scalars.

Definition at line 175 of file RotationZYX.h.

void ROOT::Math::RotationZYX::SetPhi ( Scalar phi )

inline

Set Phi angle (Z rotation angle)

Definition at line 190 of file RotationZYX.h.

void ROOT::Math::RotationZYX::SetPsi ( Scalar psi )

inline

Set Psi angle (X'' rotation angle)

Definition at line 210 of file RotationZYX.h.

void ROOT::Math::RotationZYX::SetTheta ( Scalar theta )

inline

Set Theta angle (Y' rotation angle)

Definition at line 200 of file RotationZYX.h.

Scalar ROOT::Math::RotationZYX::Theta ( ) const

inline

Return Theta angle (Y' rotation angle)

Definition at line 205 of file RotationZYX.h.

Referenced by ROOT::Math::operator<<(), and testTransform3D().

Member Data Documentation

double ROOT::Math::RotationZYX::fPhi

private

Definition at line 331 of file RotationZYX.h.

Referenced by GetComponents(), operator*(), operator==(), Phi(), Rectify(), SetComponents(), and SetPhi().

double ROOT::Math::RotationZYX::fPsi

private

Definition at line 333 of file RotationZYX.h.

Referenced by GetComponents(), operator*(), operator==(), Psi(), Rectify(), SetComponents(), and SetPsi().

double ROOT::Math::RotationZYX::fTheta

private

Definition at line 332 of file RotationZYX.h.

Referenced by GetComponents(), operator*(), operator==(), Rectify(), SetComponents(), SetTheta(), and Theta().

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

math/genvector/inc/Math/GenVector/RotationZYX.h
math/genvector/src/RotationZYX.cxx

Public Types

Public Member Functions

Static Private Member Functions

Private Attributes

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation