| 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 | $Log$ |
| a8a6107b |
18 | Revision 1.5 2000/10/02 16:32:35 barbera |
| 19 | Forward declaration added |
| 20 | |
| 92c19c36 |
21 | Revision 1.1.2.6 2000/10/02 15:52:05 barbera |
| 22 | Forward declaration added |
| 23 | |
| 24 | Revision 1.4 2000/09/07 17:30:45 nilsen |
| 25 | fixed a bug in SixAnglesFromMatrix. |
| 26 | |
| 3f616de1 |
27 | Revision 1.3 2000/09/05 14:25:50 nilsen |
| 28 | Made fixes for HP compiler. All function parameter default values placed |
| 29 | in .h file. Fixed the usual problem with HP comilers and the "for(Int_t i..." |
| 30 | business. Replaced casting (Double_t [3][3]) to (Double_t (*)[3]) for HP. |
| 31 | Lastly removed all "const" before function parameters which were 2 dim. arrays, |
| 32 | because on HP root generates some strange code (?). Thanks Peter for the |
| 33 | changes. |
| 34 | |
| d962cab4 |
35 | Revision 1.2 2000/08/29 20:16:50 nilsen |
| 36 | New class for ITS coordiante transformations used by AliITSgeom nearly |
| 37 | exclusively. |
| 38 | |
| df5240ea |
39 | Revision 1.1.2.1 2000/06/04 16:32:31 Nilsen |
| 40 | A new class to hold the matrix information needed by AliITSgeom. |
| 41 | |
| 42 | */ |
| 43 | #include <iostream.h> |
| 8253cd9a |
44 | #include <iomanip.h> |
| df5240ea |
45 | #include <TMath.h> |
| 46 | #include <TBuffer.h> |
| 47 | |
| 48 | #include "AliITSgeomMatrix.h" |
| 49 | |
| 50 | ClassImp(AliITSgeomMatrix) |
| 51 | //---------------------------------------------------------------------- |
| 52 | AliITSgeomMatrix::AliITSgeomMatrix(){ |
| 53 | //////////////////////////////////////////////////////////////////////// |
| 54 | // The Default constructor for the AliITSgeomMatrix class. By Default |
| 55 | // the angles of rotations are set to zero, meaning that the rotation |
| 56 | // matrix is the unit matrix. The translation vector is also set to zero |
| 57 | // as are the module id number. The detector type is set to -1 (an undefined |
| 58 | // value). The full rotation matrix is kept so that the evaluation |
| 59 | // of a coordinate transformation can be done quickly and with a minimum |
| 60 | // of CPU overhead. The basic coordinate systems are the ALICE global |
| 61 | // coordinate system and the detector local coordinate system. In general |
| 62 | // this structure is not limited to just those two coordinate systems. |
| 63 | //Begin_Html |
| 64 | /* |
| 65 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> |
| 66 | */ |
| 67 | //End_Html |
| 68 | //////////////////////////////////////////////////////////////////////// |
| 69 | Int_t i,j; |
| 70 | |
| 71 | fDetectorIndex = -1; // a value never defined. |
| 72 | for(i=0;i<3;i++){ |
| 73 | fid[i] = 0; |
| 74 | frot[i] = ftran[i] = 0.0; |
| 75 | for(j=0;j<3;j++) fm[i][j] = 0.0; |
| 76 | }// end for i |
| 77 | fm[0][0] = fm[1][1] = fm[2][2] = 1.0; |
| 78 | } |
| 79 | //---------------------------------------------------------------------- |
| 80 | AliITSgeomMatrix::AliITSgeomMatrix(const AliITSgeomMatrix &sourse){ |
| 81 | //////////////////////////////////////////////////////////////////////// |
| 82 | // The standard copy constructor. This make a full / proper copy of |
| 83 | // this class. |
| 84 | //////////////////////////////////////////////////////////////////////// |
| 85 | Int_t i,j; |
| 86 | |
| 87 | this->fDetectorIndex = sourse.fDetectorIndex; |
| 88 | for(i=0;i<3;i++){ |
| 89 | this->fid[i] = sourse.fid[i]; |
| 90 | this->frot[i] = sourse.frot[i]; |
| 91 | this->ftran[i] = sourse.ftran[i]; |
| 92 | for(j=0;j<3;j++) this->fm[i][j] = sourse.fm[i][j]; |
| 93 | }// end for i |
| 94 | } |
| 95 | //---------------------------------------------------------------------- |
| 96 | void AliITSgeomMatrix::operator=(const AliITSgeomMatrix &sourse){ |
| 97 | //////////////////////////////////////////////////////////////////////// |
| 98 | // The standard = operator. This make a full / proper copy of |
| 99 | // this class. |
| 100 | //////////////////////////////////////////////////////////////////////// |
| 101 | Int_t i,j; |
| 102 | |
| 103 | this->fDetectorIndex = sourse.fDetectorIndex; |
| 104 | for(i=0;i<3;i++){ |
| 105 | this->fid[i] = sourse.fid[i]; |
| 106 | this->frot[i] = sourse.frot[i]; |
| 107 | this->ftran[i] = sourse.ftran[i]; |
| 108 | for(j=0;j<3;j++) this->fm[i][j] = sourse.fm[i][j]; |
| 109 | }// end for i |
| 110 | } |
| 111 | //---------------------------------------------------------------------- |
| 112 | AliITSgeomMatrix::AliITSgeomMatrix(const Int_t idt,const Int_t id[3], |
| 113 | const Double_t rot[3],const Double_t tran[3]){ |
| 114 | //////////////////////////////////////////////////////////////////////// |
| 115 | // This is a constructor for the AliITSgeomMatrix class. The matrix is |
| 116 | // defined by 3 standard rotation angles [radians], and the translation |
| 117 | // vector tran [cm]. In addition the layer, ladder, and detector number |
| 118 | // for this particular module and the type of module must be given. |
| 119 | // The full rotation matrix is kept so that the evaluation |
| 120 | // of a coordinate transformation can be done quickly and with a minimum |
| 121 | // of CPU overhead. The basic coordinate systems are the ALICE global |
| 122 | // coordinate system and the detector local coordinate system. In general |
| 123 | // this structure is not limited to just those two coordinate systems. |
| 124 | //Begin_Html |
| 125 | /* |
| 126 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> |
| 127 | */ |
| 128 | //End_Html |
| 129 | //////////////////////////////////////////////////////////////////////// |
| 130 | Int_t i; |
| 131 | |
| 132 | fDetectorIndex = idt; // a value never defined. |
| 133 | for(i=0;i<3;i++){ |
| 134 | fid[i] = id[i]; |
| 135 | frot[i] = rot[i]; |
| 136 | ftran[i] = tran[i]; |
| 137 | }// end for i |
| 138 | this->MatrixFromAngle(); |
| 139 | } |
| 140 | //---------------------------------------------------------------------- |
| 141 | AliITSgeomMatrix::AliITSgeomMatrix(const Int_t idt, const Int_t id[3], |
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142 | Double_t matrix[3][3], |
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143 | const Double_t tran[3]){ |
| 144 | //////////////////////////////////////////////////////////////////////// |
| 145 | // This is a constructor for the AliITSgeomMatrix class. The rotation matrix |
| 146 | // is given as one of the inputs, and the translation vector tran [cm]. In |
| 147 | // addition the layer, ladder, and detector number for this particular |
| 148 | // module and the type of module must be given. The full rotation matrix |
| 149 | // is kept so that the evaluation of a coordinate transformation can be |
| 150 | // done quickly and with a minimum of CPU overhead. The basic coordinate |
| 151 | // systems are the ALICE global coordinate system and the detector local |
| 152 | // coordinate system. In general this structure is not limited to just |
| 153 | // those two coordinate systems. |
| 154 | //Begin_Html |
| 155 | /* |
| 156 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> |
| 157 | */ |
| 158 | //End_Html |
| 159 | //////////////////////////////////////////////////////////////////////// |
| 160 | Int_t i,j; |
| 161 | |
| 162 | fDetectorIndex = idt; // a value never defined. |
| 163 | for(i=0;i<3;i++){ |
| 164 | fid[i] = id[i]; |
| 165 | ftran[i] = tran[i]; |
| 166 | for(j=0;j<3;j++) fm[i][j] = matrix[i][j]; |
| 167 | }// end for i |
| 168 | this->AngleFromMatrix(); |
| 169 | } |
| 170 | //---------------------------------------------------------------------- |
| 171 | void AliITSgeomMatrix::SixAnglesFromMatrix(Double_t *ang){ |
| 172 | //////////////////////////////////////////////////////////////////////// |
| 173 | // This function returns the 6 GEANT 3.21 rotation angles [degrees] in |
| 174 | // the array ang which must be at least [6] long. |
| 175 | //////////////////////////////////////////////////////////////////////// |
| 176 | Double_t si,c=180./TMath::Pi(); |
| 177 | |
| 178 | ang[1] = TMath::ATan2(fm[0][1],fm[0][0]); |
| 179 | if(TMath::Cos(ang[1])!=0.0) si = fm[0][0]/TMath::Cos(ang[1]); |
| 180 | else si = fm[0][1]/TMath::Sin(ang[1]); |
| 181 | ang[0] = TMath::ATan2(si,fm[0][2]); |
| 182 | |
| 183 | ang[3] = TMath::ATan2(fm[1][1],fm[1][0]); |
| 184 | if(TMath::Cos(ang[3])!=0.0) si = fm[1][0]/TMath::Cos(ang[3]); |
| 185 | else si = fm[1][1]/TMath::Sin(ang[3]); |
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186 | ang[2] = TMath::ATan2(si,fm[1][2]); |
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187 | |
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188 | ang[5] = TMath::ATan2(fm[2][1],fm[2][0]); |
| 189 | if(TMath::Cos(ang[5])!=0.0) si = fm[2][0]/TMath::Cos(ang[5]); |
| 190 | else si = fm[2][1]/TMath::Sin(ang[5]); |
| 191 | ang[4] = TMath::ATan2(si,fm[2][2]); |
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192 | |
| 193 | for(Int_t i=0;i<6;i++) {ang[i] *= c; if(ang[i]<0.0) ang[i] += 360.;} |
| 194 | } |
| 195 | //---------------------------------------------------------------------- |
| 196 | void AliITSgeomMatrix::MatrixFromSixAngles(const Double_t *ang){ |
| 197 | //////////////////////////////////////////////////////////////////////// |
| 198 | // Given the 6 GEANT 3.21 rotation angles [degree], this will compute and |
| 199 | // set the rotations matrix and 3 standard rotation angles [radians]. |
| 200 | // These angles and rotation matrix are overwrite the existing values in |
| 201 | // this class. |
| 202 | //////////////////////////////////////////////////////////////////////// |
| 203 | Int_t i,j; |
| 204 | Double_t si,lr[9],c=TMath::Pi()/180.; |
| 205 | |
| 206 | si = TMath::Sin(c*ang[0]); |
| 207 | if(ang[0]== 90.0) si = +1.0; |
| 208 | if(ang[0]==270.0) si = -1.0; |
| 209 | if(ang[0]== 0.0||ang[0]==180.) si = 0.0; |
| 210 | lr[0] = si * TMath::Cos(c*ang[1]); |
| 211 | lr[1] = si * TMath::Sin(c*ang[1]); |
| 212 | lr[2] = TMath::Cos(c*ang[0]); |
| 213 | if(ang[0]== 90.0||ang[0]==270.) lr[2] = 0.0; |
| 214 | if(ang[0]== 0.0) lr[2] = +1.0; |
| 215 | if(ang[0]==180.0) lr[2] = -1.0; |
| 216 | // |
| 217 | si = TMath::Sin(c*ang[2]); |
| 218 | if(ang[2]== 90.0) si = +1.0; |
| 219 | if(ang[2]==270.0) si = -1.0; |
| 220 | if(ang[2]== 0.0||ang[2]==180.) si = 0.0; |
| 221 | lr[3] = si * TMath::Cos(c*ang[3]); |
| 222 | lr[4] = si * TMath::Sin(c*ang[3]); |
| 223 | lr[5] = TMath::Cos(c*ang[2]); |
| 224 | if(ang[2]== 90.0||ang[2]==270.) lr[5] = 0.0; |
| 225 | if(ang[2]== 0.0) lr[5] = +1.0; |
| 226 | if(ang[2]==180.0) lr[5] = -1.0; |
| 227 | // |
| 228 | si = TMath::Sin(c*ang[4]); |
| 229 | if(ang[4]== 90.0) si = +1.0; |
| 230 | if(ang[4]==270.0) si = -1.0; |
| 231 | if(ang[4]== 0.0||ang[4]==180.) si = 0.0; |
| 232 | lr[6] = si * TMath::Cos(c*ang[5]); |
| 233 | lr[7] = si * TMath::Sin(c*ang[5]); |
| 234 | lr[8] = TMath::Cos(c*ang[4]); |
| 235 | if(ang[4]== 90.0||ang[4]==270.0) lr[8] = 0.0; |
| 236 | if(ang[4]== 0.0) lr[8] = +1.0; |
| 237 | if(ang[4]==180.0) lr[8] = -1.0; |
| 238 | // Normalize these elements and fill matrix fm. |
| 239 | for(i=0;i<3;i++){// reuse si. |
| 240 | si = 0.0; |
| 241 | for(j=0;j<3;j++) si += lr[3*i+j]*lr[3*i+j]; |
| 242 | si = TMath::Sqrt(1./si); |
| 243 | for(j=0;j<3;j++) fm[i][j] = si*lr[3*i+j]; |
| 244 | } // end for i |
| 245 | this->AngleFromMatrix(); |
| 246 | } |
| 247 | //---------------------------------------------------------------------- |
| 248 | AliITSgeomMatrix::AliITSgeomMatrix(const Double_t rotd[6]/*degrees*/, |
| 249 | const Int_t idt,const Int_t id[3], |
| 250 | const Double_t tran[3]){ |
| 251 | //////////////////////////////////////////////////////////////////////// |
| 252 | // This is a constructor for the AliITSgeomMatrix class. The matrix is |
| 253 | // defined by the 6 GEANT 3.21 rotation angles [degrees], and the translation |
| 254 | // vector tran [cm]. In addition the layer, ladder, and detector number |
| 255 | // for this particular module and the type of module must be given. |
| 256 | // The full rotation matrix is kept so that the evaluation |
| 257 | // of a coordinate transformation can be done quickly and with a minimum |
| 258 | // of CPU overhead. The basic coordinate systems are the ALICE global |
| 259 | // coordinate system and the detector local coordinate system. In general |
| 260 | // this structure is not limited to just those two coordinate systems. |
| 261 | //Begin_Html |
| 262 | /* |
| 263 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> |
| 264 | */ |
| 265 | //End_Html |
| 266 | //////////////////////////////////////////////////////////////////////// |
| 267 | Int_t i; |
| 268 | |
| 269 | fDetectorIndex = idt; // a value never defined. |
| 270 | for(i=0;i<3;i++){ |
| 271 | fid[i] = id[i]; |
| 272 | ftran[i] = tran[i]; |
| 273 | }// end for i |
| 274 | this->MatrixFromSixAngles(rotd); |
| 275 | } |
| 276 | //---------------------------------------------------------------------- |
| 277 | void AliITSgeomMatrix::AngleFromMatrix(){ |
| 278 | //////////////////////////////////////////////////////////////////////// |
| 279 | // Computes the angles from the rotation matrix up to a phase of 180 degrees. |
| 280 | //////////////////////////////////////////////////////////////////////// |
| 281 | Double_t rx,ry,rz; |
| 282 | // get angles from matrix up to a phase of 180 degrees. |
| 283 | |
| 284 | rx = TMath::ATan2(fm[2][1],fm[2][2]);if(rx<0.0) rx += 2.0*TMath::Pi(); |
| 285 | ry = TMath::ASin(fm[0][2]); if(ry<0.0) ry += 2.0*TMath::Pi(); |
| 286 | rz = TMath::ATan2(fm[1][1],fm[0][0]);if(rz<0.0) rz += 2.0*TMath::Pi(); |
| 287 | frot[0] = rx; |
| 288 | frot[1] = ry; |
| 289 | frot[2] = rz; |
| 290 | return; |
| 291 | } |
| 292 | //---------------------------------------------------------------------- |
| 293 | void AliITSgeomMatrix::MatrixFromAngle(){ |
| 294 | //////////////////////////////////////////////////////////////////////// |
| 295 | // Computes the Rotation matrix from the angles [radians] kept in this |
| 296 | // class. |
| 297 | //////////////////////////////////////////////////////////////////////// |
| 298 | Double_t sx,sy,sz,cx,cy,cz; |
| 299 | |
| 300 | sx = TMath::Sin(frot[0]); cx = TMath::Cos(frot[0]); |
| 301 | sy = TMath::Sin(frot[1]); cy = TMath::Cos(frot[1]); |
| 302 | sz = TMath::Sin(frot[2]); cz = TMath::Cos(frot[2]); |
| 303 | fm[0][0] = cz*cy; // fr[0] |
| 304 | fm[0][1] = -cz*sy*sx - sz*cx; // fr[1] |
| 305 | fm[0][2] = -cz*sy*cx + sz*sx; // fr[2] |
| 306 | fm[1][0] = sz*cy; // fr[3] |
| 307 | fm[1][1] = -sz*sy*sx + cz*cx; // fr[4] |
| 308 | fm[1][2] = -sz*sy*cx - cz*sx; // fr[5] |
| 309 | fm[2][0] = sy; // fr[6] |
| 310 | fm[2][1] = cy*sx; // fr[7] |
| 311 | fm[2][2] = cy*cx; // fr[8] |
| 312 | |
| 313 | } |
| 314 | //---------------------------------------------------------------------- |
| 315 | void AliITSgeomMatrix::GtoLPosition(const Double_t g0[3],Double_t l[3]){ |
| 316 | //////////////////////////////////////////////////////////////////////// |
| 317 | // Returns the local coordinates given the global coordinates [cm]. |
| 318 | //////////////////////////////////////////////////////////////////////// |
| 319 | Int_t i,j; |
| 320 | Double_t g[3]; |
| 321 | |
| 322 | for(i=0;i<3;i++) g[i] = g0[i] - ftran[i]; |
| 323 | for(i=0;i<3;i++){ |
| 324 | l[i] = 0.0; |
| 325 | for(j=0;j<3;j++) l[i] += fm[i][j]*g[j]; |
| 326 | // g = R l + translation |
| 327 | } // end for i |
| 328 | return; |
| 329 | } |
| 330 | //---------------------------------------------------------------------- |
| 331 | void AliITSgeomMatrix::LtoGPosition(const Double_t l[3],Double_t g[3]){ |
| 332 | //////////////////////////////////////////////////////////////////////// |
| 333 | // Returns the global coordinates given the local coordinates [cm]. |
| 334 | //////////////////////////////////////////////////////////////////////// |
| 335 | Int_t i,j; |
| 336 | |
| 337 | for(i=0;i<3;i++){ |
| 338 | g[i] = 0.0; |
| 339 | for(j=0;j<3;j++) g[i] += fm[j][i]*l[j]; |
| 340 | g[i] += ftran[i]; |
| 341 | // g = R^t l + translation |
| 342 | } // end for i |
| 343 | return; |
| 344 | } |
| 345 | //---------------------------------------------------------------------- |
| 346 | void AliITSgeomMatrix::GtoLMomentum(const Double_t g[3],Double_t l[3]){ |
| 347 | //////////////////////////////////////////////////////////////////////// |
| 348 | // Returns the local coordinates of the momentum given the global |
| 349 | // coordinates of the momentum. It transforms just like GtoLPosition |
| 350 | // except that the translation vector is zero. |
| 351 | //////////////////////////////////////////////////////////////////////// |
| 352 | Int_t i,j; |
| 353 | |
| 354 | for(i=0;i<3;i++){ |
| 355 | l[i] = 0.0; |
| 356 | for(j=0;j<3;j++) l[i] += fm[i][j]*g[j]; |
| 357 | // g = R l |
| 358 | } // end for i |
| 359 | return; |
| 360 | } |
| 361 | //---------------------------------------------------------------------- |
| 362 | void AliITSgeomMatrix::LtoGMomentum(const Double_t l[3],Double_t g[3]){ |
| 363 | //////////////////////////////////////////////////////////////////////// |
| 364 | // Returns the Global coordinates of the momentum given the local |
| 365 | // coordinates of the momentum. It transforms just like LtoGPosition |
| 366 | // except that the translation vector is zero. |
| 367 | //////////////////////////////////////////////////////////////////////// |
| 368 | Int_t i,j; |
| 369 | |
| 370 | for(i=0;i<3;i++){ |
| 371 | g[i] = 0.0; |
| 372 | for(j=0;j<3;j++) g[i] += fm[j][i]*l[j]; |
| 373 | // g = R^t l |
| 374 | } // end for i |
| 375 | return; |
| 376 | } |
| 377 | //---------------------------------------------------------------------- |
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378 | void AliITSgeomMatrix::GtoLPositionError(Double_t g[3][3], |
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379 | Double_t l[3][3]){ |
| 380 | //////////////////////////////////////////////////////////////////////// |
| 381 | // Given an Uncertainty matrix in Global coordinates it is rotated so that |
| 382 | // its representation in local coordinates can be returned. There is no |
| 383 | // effect due to the translation vector or its uncertainty. |
| 384 | //////////////////////////////////////////////////////////////////////// |
| 385 | Int_t i,j,k,m; |
| 386 | |
| 387 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) |
| 388 | l[i][m] = fm[j][i]*g[j][k]*fm[k][m]; |
| 389 | // g = R^t l R |
| 390 | return; |
| 391 | } |
| 392 | //---------------------------------------------------------------------- |
| d962cab4 |
393 | void AliITSgeomMatrix::LtoGPositionError(Double_t l[3][3], |
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394 | Double_t g[3][3]){ |
| 395 | //////////////////////////////////////////////////////////////////////// |
| 396 | // Given an Uncertainty matrix in Local coordinates it is rotated so that |
| 397 | // its representation in global coordinates can be returned. There is no |
| 398 | // effect due to the translation vector or its uncertainty. |
| 399 | //////////////////////////////////////////////////////////////////////// |
| 400 | Int_t i,j,k,m; |
| 401 | |
| 402 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) |
| 403 | g[i][m] = fm[i][j]*l[j][k]*fm[m][k]; |
| 404 | // g = R l R^t |
| 405 | return; |
| 406 | } |
| 407 | //---------------------------------------------------------------------- |
| 408 | void AliITSgeomMatrix::GtoLPositionTracking(const Double_t g0[3], |
| 409 | Double_t l[3]){ |
| 410 | //////////////////////////////////////////////////////////////////////// |
| 411 | // A slightly different coordinate system is used when tracking. |
| 412 | // This coordinate system is only relevant when the geometry represents |
| 413 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left |
| 414 | // alone but X -> -Y and Y -> X such that X always points out of the |
| 415 | // ITS Cylinder for every layer including layer 1 (where the detector |
| 416 | // are mounted upside down). |
| 417 | //Begin_Html |
| 418 | /* |
| 419 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> |
| 420 | */ |
| 421 | //End_Html |
| 422 | //////////////////////////////////////////////////////////////////////// |
| 423 | Double_t l0[3]; |
| 424 | |
| 425 | this->GtoLPosition(g0,l0); |
| 426 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down |
| 427 | // with respect to the others. |
| 428 | l[0] = +l0[1]; |
| 429 | l[1] = -l0[0]; |
| 430 | l[2] = +l0[2]; |
| 431 | }else{ |
| 432 | l[0] = -l0[1]; |
| 433 | l[1] = +l0[0]; |
| 434 | l[2] = +l0[2]; |
| 435 | } // end if |
| 436 | return; |
| 437 | } |
| 438 | //---------------------------------------------------------------------- |
| 439 | void AliITSgeomMatrix::LtoGPositionTracking(const Double_t l[3], |
| 440 | Double_t g[3]){ |
| 441 | //////////////////////////////////////////////////////////////////////// |
| 442 | // A slightly different coordinate system is used when tracking. |
| 443 | // This coordinate system is only relevant when the geometry represents |
| 444 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left |
| 445 | // alone but X -> -Y and Y -> X such that X always points out of the |
| 446 | // ITS Cylinder for every layer including layer 1 (where the detector |
| 447 | // are mounted upside down). |
| 448 | //Begin_Html |
| 449 | /* |
| 450 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> |
| 451 | */ |
| 452 | //End_Html |
| 453 | //////////////////////////////////////////////////////////////////////// |
| 454 | Double_t l0[3]; |
| 455 | |
| 456 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down |
| 457 | // with respect to the others. |
| 458 | l0[0] = -l[1]; |
| 459 | l0[1] = +l[0]; |
| 460 | l0[2] = +l[2]; |
| 461 | }else{ |
| 462 | l0[0] = +l[1]; |
| 463 | l0[1] = -l[0]; |
| 464 | l0[2] = +l[2]; |
| 465 | } // end if |
| 466 | this->LtoGPosition(l0,g); |
| 467 | return; |
| 468 | } |
| 469 | //---------------------------------------------------------------------- |
| 470 | void AliITSgeomMatrix::GtoLMomentumTracking(const Double_t g[3], |
| 471 | Double_t l[3]){ |
| 472 | //////////////////////////////////////////////////////////////////////// |
| 473 | // A slightly different coordinate system is used when tracking. |
| 474 | // This coordinate system is only relevant when the geometry represents |
| 475 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left |
| 476 | // alone but X -> -Y and Y -> X such that X always points out of the |
| 477 | // ITS Cylinder for every layer including layer 1 (where the detector |
| 478 | // are mounted upside down). |
| 479 | //Begin_Html |
| 480 | /* |
| 481 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> |
| 482 | */ |
| 483 | //End_Html |
| 484 | //////////////////////////////////////////////////////////////////////// |
| 485 | Double_t l0[3]; |
| 486 | |
| 487 | this->GtoLMomentum(g,l0); |
| 488 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down |
| 489 | // with respect to the others. |
| 490 | l[0] = +l0[1]; |
| 491 | l[1] = -l0[0]; |
| 492 | l[2] = +l0[2]; |
| 493 | }else{ |
| 494 | l[0] = -l0[1]; |
| 495 | l[1] = +l0[0]; |
| 496 | l[2] = +l0[2]; |
| 497 | } // end if |
| 498 | return; |
| 499 | return; |
| 500 | } |
| 501 | //---------------------------------------------------------------------- |
| 502 | void AliITSgeomMatrix::LtoGMomentumTracking(const Double_t l[3], |
| 503 | Double_t g[3]){ |
| 504 | //////////////////////////////////////////////////////////////////////// |
| 505 | // A slightly different coordinate system is used when tracking. |
| 506 | // This coordinate system is only relevant when the geometry represents |
| 507 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left |
| 508 | // alone but X -> -Y and Y -> X such that X always points out of the |
| 509 | // ITS Cylinder for every layer including layer 1 (where the detector |
| 510 | // are mounted upside down). |
| 511 | //Begin_Html |
| 512 | /* |
| 513 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> |
| 514 | */ |
| 515 | //End_Html |
| 516 | //////////////////////////////////////////////////////////////////////// |
| 517 | Double_t l0[3]; |
| 518 | |
| 519 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down |
| 520 | // with respect to the others. |
| 521 | l0[0] = -l[1]; |
| 522 | l0[1] = +l[0]; |
| 523 | l0[2] = +l[2]; |
| 524 | }else{ |
| 525 | l0[0] = +l[1]; |
| 526 | l0[1] = -l[0]; |
| 527 | l0[2] = +l[2]; |
| 528 | } // end if |
| 529 | this->LtoGMomentum(l0,g); |
| 530 | return; |
| 531 | } |
| 532 | //---------------------------------------------------------------------- |
| d962cab4 |
533 | void AliITSgeomMatrix::GtoLPositionErrorTracking(Double_t g[3][3], |
| df5240ea |
534 | Double_t l[3][3]){ |
| 535 | //////////////////////////////////////////////////////////////////////// |
| 536 | // A slightly different coordinate system is used when tracking. |
| 537 | // This coordinate system is only relevant when the geometry represents |
| 538 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left |
| 539 | // alone but X -> -Y and Y -> X such that X always points out of the |
| 540 | // ITS Cylinder for every layer including layer 1 (where the detector |
| 541 | // are mounted upside down). |
| 542 | //Begin_Html |
| 543 | /* |
| 544 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> |
| 545 | */ |
| 546 | //End_Html |
| 547 | //////////////////////////////////////////////////////////////////////// |
| 548 | Int_t i,j,k,m; |
| 549 | Double_t Rt[3][3]; |
| 550 | Double_t A0[3][3] = {{0.,+1.,0.},{-1.,0.,0.},{0.,0.,+1.}}; |
| 551 | Double_t A1[3][3] = {{0.,-1.,0.},{+1.,0.,0.},{0.,0.,+1.}}; |
| 552 | |
| 553 | if(fid[0]==1) for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) |
| 554 | Rt[i][k] = A0[i][j]*fm[j][k]; |
| 555 | else for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) |
| 556 | Rt[i][k] = A1[i][j]*fm[j][k]; |
| 557 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) |
| 558 | l[i][m] = Rt[j][i]*g[j][k]*Rt[k][m]; |
| 559 | // g = R^t l R |
| 560 | return; |
| 561 | } |
| 562 | //---------------------------------------------------------------------- |
| d962cab4 |
563 | void AliITSgeomMatrix::LtoGPositionErrorTracking(Double_t l[3][3], |
| df5240ea |
564 | Double_t g[3][3]){ |
| 565 | //////////////////////////////////////////////////////////////////////// |
| 566 | // A slightly different coordinate system is used when tracking. |
| 567 | // This coordinate system is only relevant when the geometry represents |
| 568 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left |
| 569 | // alone but X -> -Y and Y -> X such that X always points out of the |
| 570 | // ITS Cylinder for every layer including layer 1 (where the detector |
| 571 | // are mounted upside down). |
| 572 | //Begin_Html |
| 573 | /* |
| 574 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> |
| 575 | */ |
| 576 | //End_Html |
| 577 | //////////////////////////////////////////////////////////////////////// |
| 578 | Int_t i,j,k,m; |
| 579 | Double_t Rt[3][3]; |
| 580 | Double_t A0[3][3] = {{0.,+1.,0.},{-1.,0.,0.},{0.,0.,+1.}}; |
| 581 | Double_t A1[3][3] = {{0.,-1.,0.},{+1.,0.,0.},{0.,0.,+1.}}; |
| 582 | |
| 583 | if(fid[0]==1) for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) |
| 584 | Rt[i][k] = A0[i][j]*fm[j][k]; |
| 585 | else for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) |
| 586 | Rt[i][k] = A1[i][j]*fm[j][k]; |
| 587 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) |
| 588 | g[i][m] = Rt[i][j]*l[j][k]*Rt[m][k]; |
| 589 | // g = R l R^t |
| 590 | return; |
| 591 | } |
| 592 | //---------------------------------------------------------------------- |
| 593 | void AliITSgeomMatrix::PrintTitles(ostream *os){ |
| 594 | //////////////////////////////////////////////////////////////////////// |
| 595 | // Standard output format for this class but it includes variable |
| 596 | // names and formatting that makes it easer to read. |
| 597 | //////////////////////////////////////////////////////////////////////// |
| 598 | Int_t i,j; |
| 599 | |
| 600 | *os << "fDetectorIndex=" << fDetectorIndex << " fid[3]={"; |
| 601 | for(i=0;i<3;i++) *os << fid[i] << " "; |
| 602 | *os << "} frot[3]={"; |
| 603 | for(i=0;i<3;i++) *os << frot[i] << " "; |
| 604 | *os << "} ftran[3]={"; |
| 605 | for(i=0;i<3;i++) *os << ftran[i] << " "; |
| 606 | *os << "} fm[3][3]={"; |
| 607 | for(i=0;i<3;i++){for(j=0;j<3;j++){ *os << fm[i][j] << " ";} *os <<"}{";} |
| 608 | *os << "}" << endl; |
| 609 | return; |
| 610 | } |
| 611 | //---------------------------------------------------------------------- |
| 8253cd9a |
612 | void AliITSgeomMatrix::PrintComment(ostream *os){ |
| 613 | //////////////////////////////////////////////////////////////////////// |
| 614 | // output format used by Print.. |
| 615 | //////////////////////////////////////////////////////////////////////// |
| 616 | *os << "fDetectorIndex fid[0] fid[1] fid[2] ftran[0] ftran[1] ftran[2] "; |
| 617 | *os << "fm[0][0] fm[0][1] fm[0][2] fm[1][0] fm[1][1] fm[1][2] "; |
| 618 | *os << "fm[2][0] fm[2][1] fm[2][2] "; |
| 619 | return; |
| 620 | } |
| 621 | //---------------------------------------------------------------------- |
| 622 | void AliITSgeomMatrix::Print(ostream *os){ |
| df5240ea |
623 | //////////////////////////////////////////////////////////////////////// |
| 624 | // Standard output format for this class. |
| 625 | //////////////////////////////////////////////////////////////////////// |
| 626 | Int_t i,j; |
| 8253cd9a |
627 | ios::fmtflags fmt; |
| df5240ea |
628 | |
| 8253cd9a |
629 | fmt = os->setf(ios::scientific); // set scientific floating point output |
| df5240ea |
630 | *os << fDetectorIndex << " "; |
| 631 | for(i=0;i<3;i++) *os << fid[i] << " "; |
| 8253cd9a |
632 | // for(i=0;i<3;i++) *os << frot[i] << " "; // Redundant with fm[][]. |
| 633 | for(i=0;i<3;i++) *os << setprecision(16) << ftran[i] << " "; |
| 634 | for(i=0;i<3;i++)for(j=0;j<3;j++) *os << setprecision(16) << |
| 635 | fm[i][j] << " "; |
| df5240ea |
636 | *os << endl; |
| 8253cd9a |
637 | os->flags(fmt); // reset back to old formating. |
| df5240ea |
638 | return; |
| 639 | } |
| 640 | //---------------------------------------------------------------------- |
| 8253cd9a |
641 | void AliITSgeomMatrix::Read(istream *is){ |
| df5240ea |
642 | //////////////////////////////////////////////////////////////////////// |
| 643 | // Standard input format for this class. |
| 644 | //////////////////////////////////////////////////////////////////////// |
| 645 | Int_t i,j; |
| 646 | |
| 647 | *is >> fDetectorIndex; |
| 648 | for(i=0;i<3;i++) *is >> fid[i]; |
| 8253cd9a |
649 | // for(i=0;i<3;i++) *is >> frot[i]; // Redundant with fm[][]. |
| df5240ea |
650 | for(i=0;i<3;i++) *is >> ftran[i]; |
| 651 | for(i=0;i<3;i++)for(j=0;j<3;j++) *is >> fm[i][j]; |
| 8253cd9a |
652 | AngleFromMatrix(); // compute angles frot[]. |
| df5240ea |
653 | return; |
| 654 | } |
| 655 | //---------------------------------------------------------------------- |
| 656 | ostream &operator<<(ostream &os,AliITSgeomMatrix &p){ |
| 657 | //////////////////////////////////////////////////////////////////////// |
| 658 | // Standard output streaming function. |
| 659 | //////////////////////////////////////////////////////////////////////// |
| 660 | |
| 8253cd9a |
661 | p.Print(&os); |
| df5240ea |
662 | return os; |
| 663 | } |
| 664 | //---------------------------------------------------------------------- |
| 665 | istream &operator>>(istream &is,AliITSgeomMatrix &r){ |
| 666 | //////////////////////////////////////////////////////////////////////// |
| 667 | // Standard input streaming function. |
| 668 | //////////////////////////////////////////////////////////////////////// |
| 669 | |
| 8253cd9a |
670 | r.Read(&is); |
| df5240ea |
671 | return is; |
| 672 | } |
| 8253cd9a |
673 | //---------------------------------------------------------------------- |
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