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df5240ea | 1 | /************************************************************************** |
2 | * Copyright(c) 1998-1999, ALICE Experiment at CERN, All rights reserved. * | |
3 | * * | |
4 | * Author: The ALICE Off-line Project. * | |
5 | * Contributors are mentioned in the code where appropriate. * | |
6 | * * | |
7 | * Permission to use, copy, modify and distribute this software and its * | |
8 | * documentation strictly for non-commercial purposes is hereby granted * | |
9 | * without fee, provided that the above copyright notice appears in all * | |
10 | * copies and that both the copyright notice and this permission notice * | |
11 | * appear in the supporting documentation. The authors make no claims * | |
12 | * about the suitability of this software for any purpose. It is * | |
13 | * provided "as is" without express or implied warranty. * | |
14 | **************************************************************************/ | |
15 | ||
16 | /* | |
17 | $Log$ | |
3f616de1 | 18 | Revision 1.3 2000/09/05 14:25:50 nilsen |
19 | Made fixes for HP compiler. All function parameter default values placed | |
20 | in .h file. Fixed the usual problem with HP comilers and the "for(Int_t i..." | |
21 | business. Replaced casting (Double_t [3][3]) to (Double_t (*)[3]) for HP. | |
22 | Lastly removed all "const" before function parameters which were 2 dim. arrays, | |
23 | because on HP root generates some strange code (?). Thanks Peter for the | |
24 | changes. | |
25 | ||
d962cab4 | 26 | Revision 1.2 2000/08/29 20:16:50 nilsen |
27 | New class for ITS coordiante transformations used by AliITSgeom nearly | |
28 | exclusively. | |
29 | ||
df5240ea | 30 | Revision 1.1.2.1 2000/06/04 16:32:31 Nilsen |
31 | A new class to hold the matrix information needed by AliITSgeom. | |
32 | ||
33 | */ | |
34 | #include <iostream.h> | |
35 | #include <TMath.h> | |
36 | #include <TBuffer.h> | |
37 | ||
38 | #include "AliITSgeomMatrix.h" | |
39 | ||
40 | ClassImp(AliITSgeomMatrix) | |
41 | //---------------------------------------------------------------------- | |
42 | AliITSgeomMatrix::AliITSgeomMatrix(){ | |
43 | //////////////////////////////////////////////////////////////////////// | |
44 | // The Default constructor for the AliITSgeomMatrix class. By Default | |
45 | // the angles of rotations are set to zero, meaning that the rotation | |
46 | // matrix is the unit matrix. The translation vector is also set to zero | |
47 | // as are the module id number. The detector type is set to -1 (an undefined | |
48 | // value). The full rotation matrix is kept so that the evaluation | |
49 | // of a coordinate transformation can be done quickly and with a minimum | |
50 | // of CPU overhead. The basic coordinate systems are the ALICE global | |
51 | // coordinate system and the detector local coordinate system. In general | |
52 | // this structure is not limited to just those two coordinate systems. | |
53 | //Begin_Html | |
54 | /* | |
55 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> | |
56 | */ | |
57 | //End_Html | |
58 | //////////////////////////////////////////////////////////////////////// | |
59 | Int_t i,j; | |
60 | ||
61 | fDetectorIndex = -1; // a value never defined. | |
62 | for(i=0;i<3;i++){ | |
63 | fid[i] = 0; | |
64 | frot[i] = ftran[i] = 0.0; | |
65 | for(j=0;j<3;j++) fm[i][j] = 0.0; | |
66 | }// end for i | |
67 | fm[0][0] = fm[1][1] = fm[2][2] = 1.0; | |
68 | } | |
69 | //---------------------------------------------------------------------- | |
70 | AliITSgeomMatrix::AliITSgeomMatrix(const AliITSgeomMatrix &sourse){ | |
71 | //////////////////////////////////////////////////////////////////////// | |
72 | // The standard copy constructor. This make a full / proper copy of | |
73 | // this class. | |
74 | //////////////////////////////////////////////////////////////////////// | |
75 | Int_t i,j; | |
76 | ||
77 | this->fDetectorIndex = sourse.fDetectorIndex; | |
78 | for(i=0;i<3;i++){ | |
79 | this->fid[i] = sourse.fid[i]; | |
80 | this->frot[i] = sourse.frot[i]; | |
81 | this->ftran[i] = sourse.ftran[i]; | |
82 | for(j=0;j<3;j++) this->fm[i][j] = sourse.fm[i][j]; | |
83 | }// end for i | |
84 | } | |
85 | //---------------------------------------------------------------------- | |
86 | void AliITSgeomMatrix::operator=(const AliITSgeomMatrix &sourse){ | |
87 | //////////////////////////////////////////////////////////////////////// | |
88 | // The standard = operator. This make a full / proper copy of | |
89 | // this class. | |
90 | //////////////////////////////////////////////////////////////////////// | |
91 | Int_t i,j; | |
92 | ||
93 | this->fDetectorIndex = sourse.fDetectorIndex; | |
94 | for(i=0;i<3;i++){ | |
95 | this->fid[i] = sourse.fid[i]; | |
96 | this->frot[i] = sourse.frot[i]; | |
97 | this->ftran[i] = sourse.ftran[i]; | |
98 | for(j=0;j<3;j++) this->fm[i][j] = sourse.fm[i][j]; | |
99 | }// end for i | |
100 | } | |
101 | //---------------------------------------------------------------------- | |
102 | AliITSgeomMatrix::AliITSgeomMatrix(const Int_t idt,const Int_t id[3], | |
103 | const Double_t rot[3],const Double_t tran[3]){ | |
104 | //////////////////////////////////////////////////////////////////////// | |
105 | // This is a constructor for the AliITSgeomMatrix class. The matrix is | |
106 | // defined by 3 standard rotation angles [radians], and the translation | |
107 | // vector tran [cm]. In addition the layer, ladder, and detector number | |
108 | // for this particular module and the type of module must be given. | |
109 | // The full rotation matrix is kept so that the evaluation | |
110 | // of a coordinate transformation can be done quickly and with a minimum | |
111 | // of CPU overhead. The basic coordinate systems are the ALICE global | |
112 | // coordinate system and the detector local coordinate system. In general | |
113 | // this structure is not limited to just those two coordinate systems. | |
114 | //Begin_Html | |
115 | /* | |
116 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> | |
117 | */ | |
118 | //End_Html | |
119 | //////////////////////////////////////////////////////////////////////// | |
120 | Int_t i; | |
121 | ||
122 | fDetectorIndex = idt; // a value never defined. | |
123 | for(i=0;i<3;i++){ | |
124 | fid[i] = id[i]; | |
125 | frot[i] = rot[i]; | |
126 | ftran[i] = tran[i]; | |
127 | }// end for i | |
128 | this->MatrixFromAngle(); | |
129 | } | |
130 | //---------------------------------------------------------------------- | |
131 | AliITSgeomMatrix::AliITSgeomMatrix(const Int_t idt, const Int_t id[3], | |
d962cab4 | 132 | Double_t matrix[3][3], |
df5240ea | 133 | const Double_t tran[3]){ |
134 | //////////////////////////////////////////////////////////////////////// | |
135 | // This is a constructor for the AliITSgeomMatrix class. The rotation matrix | |
136 | // is given as one of the inputs, and the translation vector tran [cm]. In | |
137 | // addition the layer, ladder, and detector number for this particular | |
138 | // module and the type of module must be given. The full rotation matrix | |
139 | // is kept so that the evaluation of a coordinate transformation can be | |
140 | // done quickly and with a minimum of CPU overhead. The basic coordinate | |
141 | // systems are the ALICE global coordinate system and the detector local | |
142 | // coordinate system. In general this structure is not limited to just | |
143 | // those two coordinate systems. | |
144 | //Begin_Html | |
145 | /* | |
146 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> | |
147 | */ | |
148 | //End_Html | |
149 | //////////////////////////////////////////////////////////////////////// | |
150 | Int_t i,j; | |
151 | ||
152 | fDetectorIndex = idt; // a value never defined. | |
153 | for(i=0;i<3;i++){ | |
154 | fid[i] = id[i]; | |
155 | ftran[i] = tran[i]; | |
156 | for(j=0;j<3;j++) fm[i][j] = matrix[i][j]; | |
157 | }// end for i | |
158 | this->AngleFromMatrix(); | |
159 | } | |
160 | //---------------------------------------------------------------------- | |
161 | void AliITSgeomMatrix::SixAnglesFromMatrix(Double_t *ang){ | |
162 | //////////////////////////////////////////////////////////////////////// | |
163 | // This function returns the 6 GEANT 3.21 rotation angles [degrees] in | |
164 | // the array ang which must be at least [6] long. | |
165 | //////////////////////////////////////////////////////////////////////// | |
166 | Double_t si,c=180./TMath::Pi(); | |
167 | ||
168 | ang[1] = TMath::ATan2(fm[0][1],fm[0][0]); | |
169 | if(TMath::Cos(ang[1])!=0.0) si = fm[0][0]/TMath::Cos(ang[1]); | |
170 | else si = fm[0][1]/TMath::Sin(ang[1]); | |
171 | ang[0] = TMath::ATan2(si,fm[0][2]); | |
172 | ||
173 | ang[3] = TMath::ATan2(fm[1][1],fm[1][0]); | |
174 | if(TMath::Cos(ang[3])!=0.0) si = fm[1][0]/TMath::Cos(ang[3]); | |
175 | else si = fm[1][1]/TMath::Sin(ang[3]); | |
3f616de1 | 176 | ang[2] = TMath::ATan2(si,fm[1][2]); |
df5240ea | 177 | |
3f616de1 | 178 | ang[5] = TMath::ATan2(fm[2][1],fm[2][0]); |
179 | if(TMath::Cos(ang[5])!=0.0) si = fm[2][0]/TMath::Cos(ang[5]); | |
180 | else si = fm[2][1]/TMath::Sin(ang[5]); | |
181 | ang[4] = TMath::ATan2(si,fm[2][2]); | |
df5240ea | 182 | |
183 | for(Int_t i=0;i<6;i++) {ang[i] *= c; if(ang[i]<0.0) ang[i] += 360.;} | |
184 | } | |
185 | //---------------------------------------------------------------------- | |
186 | void AliITSgeomMatrix::MatrixFromSixAngles(const Double_t *ang){ | |
187 | //////////////////////////////////////////////////////////////////////// | |
188 | // Given the 6 GEANT 3.21 rotation angles [degree], this will compute and | |
189 | // set the rotations matrix and 3 standard rotation angles [radians]. | |
190 | // These angles and rotation matrix are overwrite the existing values in | |
191 | // this class. | |
192 | //////////////////////////////////////////////////////////////////////// | |
193 | Int_t i,j; | |
194 | Double_t si,lr[9],c=TMath::Pi()/180.; | |
195 | ||
196 | si = TMath::Sin(c*ang[0]); | |
197 | if(ang[0]== 90.0) si = +1.0; | |
198 | if(ang[0]==270.0) si = -1.0; | |
199 | if(ang[0]== 0.0||ang[0]==180.) si = 0.0; | |
200 | lr[0] = si * TMath::Cos(c*ang[1]); | |
201 | lr[1] = si * TMath::Sin(c*ang[1]); | |
202 | lr[2] = TMath::Cos(c*ang[0]); | |
203 | if(ang[0]== 90.0||ang[0]==270.) lr[2] = 0.0; | |
204 | if(ang[0]== 0.0) lr[2] = +1.0; | |
205 | if(ang[0]==180.0) lr[2] = -1.0; | |
206 | // | |
207 | si = TMath::Sin(c*ang[2]); | |
208 | if(ang[2]== 90.0) si = +1.0; | |
209 | if(ang[2]==270.0) si = -1.0; | |
210 | if(ang[2]== 0.0||ang[2]==180.) si = 0.0; | |
211 | lr[3] = si * TMath::Cos(c*ang[3]); | |
212 | lr[4] = si * TMath::Sin(c*ang[3]); | |
213 | lr[5] = TMath::Cos(c*ang[2]); | |
214 | if(ang[2]== 90.0||ang[2]==270.) lr[5] = 0.0; | |
215 | if(ang[2]== 0.0) lr[5] = +1.0; | |
216 | if(ang[2]==180.0) lr[5] = -1.0; | |
217 | // | |
218 | si = TMath::Sin(c*ang[4]); | |
219 | if(ang[4]== 90.0) si = +1.0; | |
220 | if(ang[4]==270.0) si = -1.0; | |
221 | if(ang[4]== 0.0||ang[4]==180.) si = 0.0; | |
222 | lr[6] = si * TMath::Cos(c*ang[5]); | |
223 | lr[7] = si * TMath::Sin(c*ang[5]); | |
224 | lr[8] = TMath::Cos(c*ang[4]); | |
225 | if(ang[4]== 90.0||ang[4]==270.0) lr[8] = 0.0; | |
226 | if(ang[4]== 0.0) lr[8] = +1.0; | |
227 | if(ang[4]==180.0) lr[8] = -1.0; | |
228 | // Normalize these elements and fill matrix fm. | |
229 | for(i=0;i<3;i++){// reuse si. | |
230 | si = 0.0; | |
231 | for(j=0;j<3;j++) si += lr[3*i+j]*lr[3*i+j]; | |
232 | si = TMath::Sqrt(1./si); | |
233 | for(j=0;j<3;j++) fm[i][j] = si*lr[3*i+j]; | |
234 | } // end for i | |
235 | this->AngleFromMatrix(); | |
236 | } | |
237 | //---------------------------------------------------------------------- | |
238 | AliITSgeomMatrix::AliITSgeomMatrix(const Double_t rotd[6]/*degrees*/, | |
239 | const Int_t idt,const Int_t id[3], | |
240 | const Double_t tran[3]){ | |
241 | //////////////////////////////////////////////////////////////////////// | |
242 | // This is a constructor for the AliITSgeomMatrix class. The matrix is | |
243 | // defined by the 6 GEANT 3.21 rotation angles [degrees], and the translation | |
244 | // vector tran [cm]. In addition the layer, ladder, and detector number | |
245 | // for this particular module and the type of module must be given. | |
246 | // The full rotation matrix is kept so that the evaluation | |
247 | // of a coordinate transformation can be done quickly and with a minimum | |
248 | // of CPU overhead. The basic coordinate systems are the ALICE global | |
249 | // coordinate system and the detector local coordinate system. In general | |
250 | // this structure is not limited to just those two coordinate systems. | |
251 | //Begin_Html | |
252 | /* | |
253 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> | |
254 | */ | |
255 | //End_Html | |
256 | //////////////////////////////////////////////////////////////////////// | |
257 | Int_t i; | |
258 | ||
259 | fDetectorIndex = idt; // a value never defined. | |
260 | for(i=0;i<3;i++){ | |
261 | fid[i] = id[i]; | |
262 | ftran[i] = tran[i]; | |
263 | }// end for i | |
264 | this->MatrixFromSixAngles(rotd); | |
265 | } | |
266 | //---------------------------------------------------------------------- | |
267 | void AliITSgeomMatrix::AngleFromMatrix(){ | |
268 | //////////////////////////////////////////////////////////////////////// | |
269 | // Computes the angles from the rotation matrix up to a phase of 180 degrees. | |
270 | //////////////////////////////////////////////////////////////////////// | |
271 | Double_t rx,ry,rz; | |
272 | // get angles from matrix up to a phase of 180 degrees. | |
273 | ||
274 | rx = TMath::ATan2(fm[2][1],fm[2][2]);if(rx<0.0) rx += 2.0*TMath::Pi(); | |
275 | ry = TMath::ASin(fm[0][2]); if(ry<0.0) ry += 2.0*TMath::Pi(); | |
276 | rz = TMath::ATan2(fm[1][1],fm[0][0]);if(rz<0.0) rz += 2.0*TMath::Pi(); | |
277 | frot[0] = rx; | |
278 | frot[1] = ry; | |
279 | frot[2] = rz; | |
280 | return; | |
281 | } | |
282 | //---------------------------------------------------------------------- | |
283 | void AliITSgeomMatrix::MatrixFromAngle(){ | |
284 | //////////////////////////////////////////////////////////////////////// | |
285 | // Computes the Rotation matrix from the angles [radians] kept in this | |
286 | // class. | |
287 | //////////////////////////////////////////////////////////////////////// | |
288 | Double_t sx,sy,sz,cx,cy,cz; | |
289 | ||
290 | sx = TMath::Sin(frot[0]); cx = TMath::Cos(frot[0]); | |
291 | sy = TMath::Sin(frot[1]); cy = TMath::Cos(frot[1]); | |
292 | sz = TMath::Sin(frot[2]); cz = TMath::Cos(frot[2]); | |
293 | fm[0][0] = cz*cy; // fr[0] | |
294 | fm[0][1] = -cz*sy*sx - sz*cx; // fr[1] | |
295 | fm[0][2] = -cz*sy*cx + sz*sx; // fr[2] | |
296 | fm[1][0] = sz*cy; // fr[3] | |
297 | fm[1][1] = -sz*sy*sx + cz*cx; // fr[4] | |
298 | fm[1][2] = -sz*sy*cx - cz*sx; // fr[5] | |
299 | fm[2][0] = sy; // fr[6] | |
300 | fm[2][1] = cy*sx; // fr[7] | |
301 | fm[2][2] = cy*cx; // fr[8] | |
302 | ||
303 | } | |
304 | //---------------------------------------------------------------------- | |
305 | void AliITSgeomMatrix::GtoLPosition(const Double_t g0[3],Double_t l[3]){ | |
306 | //////////////////////////////////////////////////////////////////////// | |
307 | // Returns the local coordinates given the global coordinates [cm]. | |
308 | //////////////////////////////////////////////////////////////////////// | |
309 | Int_t i,j; | |
310 | Double_t g[3]; | |
311 | ||
312 | for(i=0;i<3;i++) g[i] = g0[i] - ftran[i]; | |
313 | for(i=0;i<3;i++){ | |
314 | l[i] = 0.0; | |
315 | for(j=0;j<3;j++) l[i] += fm[i][j]*g[j]; | |
316 | // g = R l + translation | |
317 | } // end for i | |
318 | return; | |
319 | } | |
320 | //---------------------------------------------------------------------- | |
321 | void AliITSgeomMatrix::LtoGPosition(const Double_t l[3],Double_t g[3]){ | |
322 | //////////////////////////////////////////////////////////////////////// | |
323 | // Returns the global coordinates given the local coordinates [cm]. | |
324 | //////////////////////////////////////////////////////////////////////// | |
325 | Int_t i,j; | |
326 | ||
327 | for(i=0;i<3;i++){ | |
328 | g[i] = 0.0; | |
329 | for(j=0;j<3;j++) g[i] += fm[j][i]*l[j]; | |
330 | g[i] += ftran[i]; | |
331 | // g = R^t l + translation | |
332 | } // end for i | |
333 | return; | |
334 | } | |
335 | //---------------------------------------------------------------------- | |
336 | void AliITSgeomMatrix::GtoLMomentum(const Double_t g[3],Double_t l[3]){ | |
337 | //////////////////////////////////////////////////////////////////////// | |
338 | // Returns the local coordinates of the momentum given the global | |
339 | // coordinates of the momentum. It transforms just like GtoLPosition | |
340 | // except that the translation vector is zero. | |
341 | //////////////////////////////////////////////////////////////////////// | |
342 | Int_t i,j; | |
343 | ||
344 | for(i=0;i<3;i++){ | |
345 | l[i] = 0.0; | |
346 | for(j=0;j<3;j++) l[i] += fm[i][j]*g[j]; | |
347 | // g = R l | |
348 | } // end for i | |
349 | return; | |
350 | } | |
351 | //---------------------------------------------------------------------- | |
352 | void AliITSgeomMatrix::LtoGMomentum(const Double_t l[3],Double_t g[3]){ | |
353 | //////////////////////////////////////////////////////////////////////// | |
354 | // Returns the Global coordinates of the momentum given the local | |
355 | // coordinates of the momentum. It transforms just like LtoGPosition | |
356 | // except that the translation vector is zero. | |
357 | //////////////////////////////////////////////////////////////////////// | |
358 | Int_t i,j; | |
359 | ||
360 | for(i=0;i<3;i++){ | |
361 | g[i] = 0.0; | |
362 | for(j=0;j<3;j++) g[i] += fm[j][i]*l[j]; | |
363 | // g = R^t l | |
364 | } // end for i | |
365 | return; | |
366 | } | |
367 | //---------------------------------------------------------------------- | |
d962cab4 | 368 | void AliITSgeomMatrix::GtoLPositionError(Double_t g[3][3], |
df5240ea | 369 | Double_t l[3][3]){ |
370 | //////////////////////////////////////////////////////////////////////// | |
371 | // Given an Uncertainty matrix in Global coordinates it is rotated so that | |
372 | // its representation in local coordinates can be returned. There is no | |
373 | // effect due to the translation vector or its uncertainty. | |
374 | //////////////////////////////////////////////////////////////////////// | |
375 | Int_t i,j,k,m; | |
376 | ||
377 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) | |
378 | l[i][m] = fm[j][i]*g[j][k]*fm[k][m]; | |
379 | // g = R^t l R | |
380 | return; | |
381 | } | |
382 | //---------------------------------------------------------------------- | |
d962cab4 | 383 | void AliITSgeomMatrix::LtoGPositionError(Double_t l[3][3], |
df5240ea | 384 | Double_t g[3][3]){ |
385 | //////////////////////////////////////////////////////////////////////// | |
386 | // Given an Uncertainty matrix in Local coordinates it is rotated so that | |
387 | // its representation in global coordinates can be returned. There is no | |
388 | // effect due to the translation vector or its uncertainty. | |
389 | //////////////////////////////////////////////////////////////////////// | |
390 | Int_t i,j,k,m; | |
391 | ||
392 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) | |
393 | g[i][m] = fm[i][j]*l[j][k]*fm[m][k]; | |
394 | // g = R l R^t | |
395 | return; | |
396 | } | |
397 | //---------------------------------------------------------------------- | |
398 | void AliITSgeomMatrix::GtoLPositionTracking(const Double_t g0[3], | |
399 | Double_t l[3]){ | |
400 | //////////////////////////////////////////////////////////////////////// | |
401 | // A slightly different coordinate system is used when tracking. | |
402 | // This coordinate system is only relevant when the geometry represents | |
403 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
404 | // alone but X -> -Y and Y -> X such that X always points out of the | |
405 | // ITS Cylinder for every layer including layer 1 (where the detector | |
406 | // are mounted upside down). | |
407 | //Begin_Html | |
408 | /* | |
409 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
410 | */ | |
411 | //End_Html | |
412 | //////////////////////////////////////////////////////////////////////// | |
413 | Double_t l0[3]; | |
414 | ||
415 | this->GtoLPosition(g0,l0); | |
416 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down | |
417 | // with respect to the others. | |
418 | l[0] = +l0[1]; | |
419 | l[1] = -l0[0]; | |
420 | l[2] = +l0[2]; | |
421 | }else{ | |
422 | l[0] = -l0[1]; | |
423 | l[1] = +l0[0]; | |
424 | l[2] = +l0[2]; | |
425 | } // end if | |
426 | return; | |
427 | } | |
428 | //---------------------------------------------------------------------- | |
429 | void AliITSgeomMatrix::LtoGPositionTracking(const Double_t l[3], | |
430 | Double_t g[3]){ | |
431 | //////////////////////////////////////////////////////////////////////// | |
432 | // A slightly different coordinate system is used when tracking. | |
433 | // This coordinate system is only relevant when the geometry represents | |
434 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
435 | // alone but X -> -Y and Y -> X such that X always points out of the | |
436 | // ITS Cylinder for every layer including layer 1 (where the detector | |
437 | // are mounted upside down). | |
438 | //Begin_Html | |
439 | /* | |
440 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
441 | */ | |
442 | //End_Html | |
443 | //////////////////////////////////////////////////////////////////////// | |
444 | Double_t l0[3]; | |
445 | ||
446 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down | |
447 | // with respect to the others. | |
448 | l0[0] = -l[1]; | |
449 | l0[1] = +l[0]; | |
450 | l0[2] = +l[2]; | |
451 | }else{ | |
452 | l0[0] = +l[1]; | |
453 | l0[1] = -l[0]; | |
454 | l0[2] = +l[2]; | |
455 | } // end if | |
456 | this->LtoGPosition(l0,g); | |
457 | return; | |
458 | } | |
459 | //---------------------------------------------------------------------- | |
460 | void AliITSgeomMatrix::GtoLMomentumTracking(const Double_t g[3], | |
461 | Double_t l[3]){ | |
462 | //////////////////////////////////////////////////////////////////////// | |
463 | // A slightly different coordinate system is used when tracking. | |
464 | // This coordinate system is only relevant when the geometry represents | |
465 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
466 | // alone but X -> -Y and Y -> X such that X always points out of the | |
467 | // ITS Cylinder for every layer including layer 1 (where the detector | |
468 | // are mounted upside down). | |
469 | //Begin_Html | |
470 | /* | |
471 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
472 | */ | |
473 | //End_Html | |
474 | //////////////////////////////////////////////////////////////////////// | |
475 | Double_t l0[3]; | |
476 | ||
477 | this->GtoLMomentum(g,l0); | |
478 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down | |
479 | // with respect to the others. | |
480 | l[0] = +l0[1]; | |
481 | l[1] = -l0[0]; | |
482 | l[2] = +l0[2]; | |
483 | }else{ | |
484 | l[0] = -l0[1]; | |
485 | l[1] = +l0[0]; | |
486 | l[2] = +l0[2]; | |
487 | } // end if | |
488 | return; | |
489 | return; | |
490 | } | |
491 | //---------------------------------------------------------------------- | |
492 | void AliITSgeomMatrix::LtoGMomentumTracking(const Double_t l[3], | |
493 | Double_t g[3]){ | |
494 | //////////////////////////////////////////////////////////////////////// | |
495 | // A slightly different coordinate system is used when tracking. | |
496 | // This coordinate system is only relevant when the geometry represents | |
497 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
498 | // alone but X -> -Y and Y -> X such that X always points out of the | |
499 | // ITS Cylinder for every layer including layer 1 (where the detector | |
500 | // are mounted upside down). | |
501 | //Begin_Html | |
502 | /* | |
503 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
504 | */ | |
505 | //End_Html | |
506 | //////////////////////////////////////////////////////////////////////// | |
507 | Double_t l0[3]; | |
508 | ||
509 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down | |
510 | // with respect to the others. | |
511 | l0[0] = -l[1]; | |
512 | l0[1] = +l[0]; | |
513 | l0[2] = +l[2]; | |
514 | }else{ | |
515 | l0[0] = +l[1]; | |
516 | l0[1] = -l[0]; | |
517 | l0[2] = +l[2]; | |
518 | } // end if | |
519 | this->LtoGMomentum(l0,g); | |
520 | return; | |
521 | } | |
522 | //---------------------------------------------------------------------- | |
d962cab4 | 523 | void AliITSgeomMatrix::GtoLPositionErrorTracking(Double_t g[3][3], |
df5240ea | 524 | Double_t l[3][3]){ |
525 | //////////////////////////////////////////////////////////////////////// | |
526 | // A slightly different coordinate system is used when tracking. | |
527 | // This coordinate system is only relevant when the geometry represents | |
528 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
529 | // alone but X -> -Y and Y -> X such that X always points out of the | |
530 | // ITS Cylinder for every layer including layer 1 (where the detector | |
531 | // are mounted upside down). | |
532 | //Begin_Html | |
533 | /* | |
534 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
535 | */ | |
536 | //End_Html | |
537 | //////////////////////////////////////////////////////////////////////// | |
538 | Int_t i,j,k,m; | |
539 | Double_t Rt[3][3]; | |
540 | Double_t A0[3][3] = {{0.,+1.,0.},{-1.,0.,0.},{0.,0.,+1.}}; | |
541 | Double_t A1[3][3] = {{0.,-1.,0.},{+1.,0.,0.},{0.,0.,+1.}}; | |
542 | ||
543 | if(fid[0]==1) for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) | |
544 | Rt[i][k] = A0[i][j]*fm[j][k]; | |
545 | else for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) | |
546 | Rt[i][k] = A1[i][j]*fm[j][k]; | |
547 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) | |
548 | l[i][m] = Rt[j][i]*g[j][k]*Rt[k][m]; | |
549 | // g = R^t l R | |
550 | return; | |
551 | } | |
552 | //---------------------------------------------------------------------- | |
d962cab4 | 553 | void AliITSgeomMatrix::LtoGPositionErrorTracking(Double_t l[3][3], |
df5240ea | 554 | Double_t g[3][3]){ |
555 | //////////////////////////////////////////////////////////////////////// | |
556 | // A slightly different coordinate system is used when tracking. | |
557 | // This coordinate system is only relevant when the geometry represents | |
558 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
559 | // alone but X -> -Y and Y -> X such that X always points out of the | |
560 | // ITS Cylinder for every layer including layer 1 (where the detector | |
561 | // are mounted upside down). | |
562 | //Begin_Html | |
563 | /* | |
564 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
565 | */ | |
566 | //End_Html | |
567 | //////////////////////////////////////////////////////////////////////// | |
568 | Int_t i,j,k,m; | |
569 | Double_t Rt[3][3]; | |
570 | Double_t A0[3][3] = {{0.,+1.,0.},{-1.,0.,0.},{0.,0.,+1.}}; | |
571 | Double_t A1[3][3] = {{0.,-1.,0.},{+1.,0.,0.},{0.,0.,+1.}}; | |
572 | ||
573 | if(fid[0]==1) for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) | |
574 | Rt[i][k] = A0[i][j]*fm[j][k]; | |
575 | else for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) | |
576 | Rt[i][k] = A1[i][j]*fm[j][k]; | |
577 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) | |
578 | g[i][m] = Rt[i][j]*l[j][k]*Rt[m][k]; | |
579 | // g = R l R^t | |
580 | return; | |
581 | } | |
582 | //---------------------------------------------------------------------- | |
583 | void AliITSgeomMatrix::PrintTitles(ostream *os){ | |
584 | //////////////////////////////////////////////////////////////////////// | |
585 | // Standard output format for this class but it includes variable | |
586 | // names and formatting that makes it easer to read. | |
587 | //////////////////////////////////////////////////////////////////////// | |
588 | Int_t i,j; | |
589 | ||
590 | *os << "fDetectorIndex=" << fDetectorIndex << " fid[3]={"; | |
591 | for(i=0;i<3;i++) *os << fid[i] << " "; | |
592 | *os << "} frot[3]={"; | |
593 | for(i=0;i<3;i++) *os << frot[i] << " "; | |
594 | *os << "} ftran[3]={"; | |
595 | for(i=0;i<3;i++) *os << ftran[i] << " "; | |
596 | *os << "} fm[3][3]={"; | |
597 | for(i=0;i<3;i++){for(j=0;j<3;j++){ *os << fm[i][j] << " ";} *os <<"}{";} | |
598 | *os << "}" << endl; | |
599 | return; | |
600 | } | |
601 | //---------------------------------------------------------------------- | |
602 | void AliITSgeomMatrix::print(ostream *os){ | |
603 | //////////////////////////////////////////////////////////////////////// | |
604 | // Standard output format for this class. | |
605 | //////////////////////////////////////////////////////////////////////// | |
606 | Int_t i,j; | |
607 | ||
608 | *os << fDetectorIndex << " "; | |
609 | for(i=0;i<3;i++) *os << fid[i] << " "; | |
610 | for(i=0;i<3;i++) *os << frot[i] << " "; | |
611 | for(i=0;i<3;i++) *os << ftran[i] << " "; | |
612 | for(i=0;i<3;i++)for(j=0;j<3;j++) *os << fm[i][j] << " "; | |
613 | *os << endl; | |
614 | return; | |
615 | } | |
616 | //---------------------------------------------------------------------- | |
617 | void AliITSgeomMatrix::read(istream *is){ | |
618 | //////////////////////////////////////////////////////////////////////// | |
619 | // Standard input format for this class. | |
620 | //////////////////////////////////////////////////////////////////////// | |
621 | Int_t i,j; | |
622 | ||
623 | *is >> fDetectorIndex; | |
624 | for(i=0;i<3;i++) *is >> fid[i]; | |
625 | for(i=0;i<3;i++) *is >> frot[i]; | |
626 | for(i=0;i<3;i++) *is >> ftran[i]; | |
627 | for(i=0;i<3;i++)for(j=0;j<3;j++) *is >> fm[i][j]; | |
628 | return; | |
629 | } | |
630 | //---------------------------------------------------------------------- | |
631 | ostream &operator<<(ostream &os,AliITSgeomMatrix &p){ | |
632 | //////////////////////////////////////////////////////////////////////// | |
633 | // Standard output streaming function. | |
634 | //////////////////////////////////////////////////////////////////////// | |
635 | ||
636 | p.print(&os); | |
637 | return os; | |
638 | } | |
639 | //---------------------------------------------------------------------- | |
640 | istream &operator>>(istream &is,AliITSgeomMatrix &r){ | |
641 | //////////////////////////////////////////////////////////////////////// | |
642 | // Standard input streaming function. | |
643 | //////////////////////////////////////////////////////////////////////// | |
644 | ||
645 | r.read(&is); | |
646 | return is; | |
647 | } | |
648 | //---------------------------------------------------------------------- | |
649 | void AliITSgeomMatrix::Streamer(TBuffer &R__b){ | |
650 | //////////////////////////////////////////////////////////////////////// | |
651 | // Stream an object of class AliITSgeomMatrix. | |
652 | //////////////////////////////////////////////////////////////////////// | |
653 | ||
654 | UInt_t R__s, R__c; | |
655 | if (R__b.IsReading()) { | |
656 | Version_t R__v = R__b.ReadVersion(&R__s, &R__c); | |
657 | if (R__v==1) { | |
658 | R__b >> fDetectorIndex; | |
659 | R__b.ReadStaticArray(fid); | |
660 | R__b.ReadStaticArray(frot); | |
661 | R__b.ReadStaticArray(ftran); | |
662 | R__b.ReadStaticArray((double*)fm); | |
663 | R__b.CheckByteCount(R__s, R__c, AliITSgeomMatrix::IsA()); | |
664 | } // end if R__v | |
665 | } else { // R__b.IsWriting() | |
666 | R__c = R__b.WriteVersion(AliITSgeomMatrix::IsA(), kTRUE); | |
667 | R__b << fDetectorIndex; | |
668 | R__b.WriteArray(fid, 3); | |
669 | R__b.WriteArray(frot, 3); | |
670 | R__b.WriteArray(ftran, 3); | |
671 | R__b.WriteArray((double*)fm, 9); | |
672 | R__b.SetByteCount(R__c, kTRUE); | |
673 | } // end if R__b.IsReading()||IsWriting() | |
674 | } | |
675 | //______________________________________________________________________ |