#include <EvtEulerAngles.hh>
Public Member Functions | |
| void | EulerAngles () |
| EvtEulerAngles (const EvtVector4R &Pyaxis, const EvtVector4R &Pzaxis) | |
| EvtEulerAngles (const EvtVector3R &Yaxis, const EvtVector3R &Zaxis) | |
| EvtEulerAngles () | |
| double | getAlpha () |
| double | getBeta () |
| double | getGamma () |
| virtual | ~EvtEulerAngles () |
Private Attributes | |
| double | _alpha |
| double | _beta |
| double | _gamma |
| double | _ry |
| double | _rz |
| EvtVector3R | _Yaxis |
| EvtVector3R | _Zaxis |
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00031 {}
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00046 {
00047 }
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00032 {
00033 _Yaxis=Yaxis;
00034 _Zaxis=Zaxis;
00035 EulerAngles();
00036 }
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00038 {
00039 for (int i=1;i<4;i++){
00040 _Yaxis.set(i-1,Pyaxis.get(i));
00041 _Zaxis.set(i-1,Pzaxis.get(i));
00042 }
00043 EulerAngles();
00044 }
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00061 {
00062 // to calculate Euler angles with y-convention, i.e. R=R(Z, alpha).R(Y,beta).R(Z,gamma)
00063 double pi=3.1415926;
00064 _ry=_Yaxis.d3mag();
00065 _rz=_Zaxis.d3mag();
00066
00067 if(_ry==0 ||_rz==0) {
00068 report(ERROR,"") << "Euler angle calculation specified by zero modules of the axis!"<<endl;
00069 report(ERROR,"EvtGen") << "Will terminate execution!"<<endl;
00070 ::abort();
00071 }
00072 double tolerance=1e-10;
00073 bool Y1is0=fabs(_Yaxis.get(0))<tolerance;
00074 bool Y2is0=fabs(_Yaxis.get(1))<tolerance;
00075 bool Y3is0=fabs(_Yaxis.get(2))<tolerance;
00076 bool Z1is0=fabs(_Zaxis.get(0))<tolerance;
00077 bool Z2is0=fabs(_Zaxis.get(1))<tolerance;
00078 bool Z3is0=fabs(_Zaxis.get(2))<tolerance;
00079
00080 if(Y1is0 && Y3is0 && Z1is0 && Z2is0 ){
00081 _alpha=0; _beta=0; _gamma=0;
00082 return;
00083 }
00084
00085 if( Z1is0 && Z2is0 && !Y2is0){
00086 _alpha=0; _beta=0;
00087 _gamma=acos(_Yaxis.get(0)/_ry);
00088 if(_Yaxis.get(1)<0) _gamma=2*pi - _gamma;
00089 return;
00090 }
00091
00092 // For general case to calculate Euler angles
00093 // to calculate beta
00094
00095 if(Z1is0 && Z2is0) {
00096 _beta=0;
00097 } else{ _beta =acos(_Zaxis.get(2)/_rz);}
00098
00099 //to calculate alpha
00100
00101 if(_beta==0){
00102 _alpha=0.0;
00103 }else {
00104 double cosalpha=_Zaxis.get(0)/_rz/sin(_beta);
00105 if(fabs(cosalpha)>1.0) cosalpha=cosalpha/fabs(cosalpha);
00106 _alpha=acos(cosalpha);
00107 if(_Zaxis.get(1)<0.0) _alpha=2*pi - _alpha;
00108 }
00109
00110 //to calculate gamma, alpha=0 and beta=0 case has been calculated, so only alpha !=0 and beta !=0 case left
00111
00112 double singamma=_Yaxis.get(2)/_ry/sin(_beta);
00113 double cosgamma=(-_Yaxis.get(0)/_ry-cos(_alpha)*cos(_beta)*singamma)/sin(_alpha);
00114 if(fabs(singamma)>1.0) singamma=singamma/fabs(singamma);
00115 _gamma=asin(singamma);
00116 if(singamma>0 && cosgamma<0 ) _gamma=pi - _gamma; // _gamma>0
00117 if(singamma<0 && cosgamma<0 ) _gamma=pi - _gamma; //_gamma<0
00118 if(singamma<0 && cosgamma>0 ) _gamma=2*pi + _gamma; //_gamma<0
00119
00120
00121 }
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00049 {
00050 return _alpha;
00051 }
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00053 {
00054 return _beta;
00055 }
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00057 {
00058 return _gamma;
00059 }
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1.3.9.1