1 | // $Id: EsafRefFrame.hh 2149 2005-10-04 02:50:53Z thea $ |
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2 | // Author: Alessandro Thea 2005/03/21 |
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3 | |
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4 | /***************************************************************************** |
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5 | * ESAF: Euso Simulation and Analysis Framework * |
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6 | * * |
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7 | * Id: EsafRefFrame * |
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8 | * Package: Base * |
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9 | * Coordinator: Marco.Pallavicini, Alessandro.Thea * |
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10 | * * |
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11 | *****************************************************************************/ |
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12 | |
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13 | #ifndef __ESAFREFFRAME_HH__ |
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14 | #define __ESAFREFFRAME_HH__ |
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15 | |
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16 | #include "euso.hh" |
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17 | #include <TVector3.h> |
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18 | #include <TRotation.h> |
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19 | |
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20 | //////////////////////////////////////////////////////////////////////////////// |
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21 | // // |
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22 | // EsafRefFrame // |
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23 | // // |
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24 | // Base class for all the objects which have a local coordinate reference // |
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25 | // frame // |
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26 | // // |
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27 | //////////////////////////////////////////////////////////////////////////////// |
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28 | |
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29 | class EsafRefFrame { |
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30 | public: |
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31 | EsafRefFrame(); |
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32 | virtual ~EsafRefFrame(); |
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33 | |
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34 | virtual void Copy( EsafRefFrame& ) const; |
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35 | virtual const TVector3& GetPos() const { return fPos; } |
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36 | virtual const TVector3& GetXaxis() const { return fXaxis; } |
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37 | virtual const TVector3& GetYaxis() const { return fYaxis; } |
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38 | virtual const TVector3& GetZaxis() const { return fZaxis; } |
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39 | |
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40 | virtual void SetPos( const TVector3& p ) { fPos=p; } |
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41 | virtual void SetPos( Double_t x, Double_t y, Double_t z ) { fPos.SetXYZ(x,y,z); } |
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42 | virtual void SetAxes( const TVector3& x, const TVector3& y, const TVector3& z); |
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43 | virtual void SetXEulerRotation( Double_t phi, Double_t theta, Double_t psi); |
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44 | virtual void SetYEulerRotation( Double_t phi, Double_t theta, Double_t psi); |
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45 | |
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46 | inline TVector3 ToLocal( const TVector3& ) const; |
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47 | inline TVector3 ToGlobal( const TVector3& ) const; |
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48 | |
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49 | const TRotation* GetToGlobal() const { return &fRot2Global; } |
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50 | const TRotation* GetToLocal() const { return &fRot2Local; } |
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51 | |
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52 | protected: |
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53 | |
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54 | // EsafRefFrame( const TVector3& p, const TVector3& x, const TVector3& y, const TVector3& z ); |
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55 | TVector3 fPos; // position in a reference system to be assigned |
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56 | |
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57 | TVector3 fXaxis; |
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58 | TVector3 fYaxis; |
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59 | TVector3 fZaxis; |
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60 | |
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61 | TRotation fRot2Global; // rotation from local coodinate to global. |
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62 | TRotation fRot2Local; |
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63 | |
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64 | ClassDef(EsafRefFrame,0) |
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65 | }; |
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66 | |
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67 | |
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68 | inline void EsafRefFrame::SetAxes( const TVector3& x, const TVector3& y, const TVector3& z) { |
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69 | fXaxis = x; |
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70 | fYaxis = y; |
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71 | fZaxis = z; |
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72 | |
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73 | fRot2Global = fRot2Global.RotateAxes(fXaxis, fYaxis, fZaxis); |
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74 | fRot2Local = fRot2Global.Inverse(); |
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75 | } |
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76 | |
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77 | inline TVector3 EsafRefFrame::ToLocal( const TVector3& v ) const { |
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78 | TVector3 nv = v-fPos; |
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79 | if ( !fRot2Local.IsIdentity() ) nv.Transform(fRot2Local); |
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80 | return nv; |
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81 | } |
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82 | |
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83 | inline TVector3 EsafRefFrame::ToGlobal( const TVector3& v ) const { |
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84 | TVector3 nv = v; |
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85 | if ( !fRot2Global.IsIdentity() ) nv.Transform(fRot2Global); |
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86 | nv += fPos; |
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87 | return nv; |
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88 | } |
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89 | |
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90 | #endif /* __ESAFREFFRAME_HH__ */ |
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