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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 | $Log$ | |
85f1e34a | 18 | Revision 1.9 2001/03/23 15:21:56 nilsen |
19 | Added Cylinderical Coordinates for use with Tracking. Fixed a but in the | |
20 | Streamer, It was not setting a value for frot[3] as it should when reading. | |
21 | ||
d8cc8493 | 22 | Revision 1.8 2001/02/09 00:00:57 nilsen |
23 | Fixed compatibility problem with HP unix {ios::fmtflags -> Int_t}. Fixed | |
24 | bugs in iostream based streamers used to read and write .det files. Fixed | |
25 | some detector sizes. Fixed bugs in some default-special constructors. | |
26 | ||
31b8cd63 | 27 | Revision 1.7 2001/02/03 00:00:30 nilsen |
28 | New version of AliITSgeom and related files. Now uses automatic streamers, | |
29 | set up for new formatted .det file which includes detector information. | |
30 | Additional smaller modifications are still to come. | |
31 | ||
a8a6107b | 32 | Revision 1.5 2000/10/02 16:32:35 barbera |
33 | Forward declaration added | |
34 | ||
92c19c36 | 35 | Revision 1.1.2.6 2000/10/02 15:52:05 barbera |
36 | Forward declaration added | |
37 | ||
38 | Revision 1.4 2000/09/07 17:30:45 nilsen | |
39 | fixed a bug in SixAnglesFromMatrix. | |
40 | ||
3f616de1 | 41 | Revision 1.3 2000/09/05 14:25:50 nilsen |
42 | Made fixes for HP compiler. All function parameter default values placed | |
43 | in .h file. Fixed the usual problem with HP comilers and the "for(Int_t i..." | |
44 | business. Replaced casting (Double_t [3][3]) to (Double_t (*)[3]) for HP. | |
45 | Lastly removed all "const" before function parameters which were 2 dim. arrays, | |
46 | because on HP root generates some strange code (?). Thanks Peter for the | |
47 | changes. | |
48 | ||
d962cab4 | 49 | Revision 1.2 2000/08/29 20:16:50 nilsen |
50 | New class for ITS coordiante transformations used by AliITSgeom nearly | |
51 | exclusively. | |
52 | ||
df5240ea | 53 | Revision 1.1.2.1 2000/06/04 16:32:31 Nilsen |
54 | A new class to hold the matrix information needed by AliITSgeom. | |
55 | ||
56 | */ | |
85f1e34a | 57 | |
58 | //////////////////////////////////////////////////////////////////////// | |
59 | // This is the implementation file for AliITSgeomMatrix class. It | |
60 | // contains the routines to manipulate, setup, and queary the geometry | |
61 | // of a given ITS module. An ITS module may be one of at least three | |
62 | // ITS detector technologies, Silicon Pixel, Drift, or Strip Detectors, | |
63 | // and variations of these in size and/or layout. These routines let | |
64 | // one go between ALICE global coordiantes (cm) to a given modules | |
65 | // specific local coordinates (cm). | |
66 | //////////////////////////////////////////////////////////////////////// | |
67 | ||
df5240ea | 68 | #include <iostream.h> |
8253cd9a | 69 | #include <iomanip.h> |
df5240ea | 70 | #include <TMath.h> |
71 | #include <TBuffer.h> | |
d8cc8493 | 72 | #include <TClass.h> |
df5240ea | 73 | |
74 | #include "AliITSgeomMatrix.h" | |
75 | ||
76 | ClassImp(AliITSgeomMatrix) | |
77 | //---------------------------------------------------------------------- | |
78 | AliITSgeomMatrix::AliITSgeomMatrix(){ | |
79 | //////////////////////////////////////////////////////////////////////// | |
80 | // The Default constructor for the AliITSgeomMatrix class. By Default | |
81 | // the angles of rotations are set to zero, meaning that the rotation | |
82 | // matrix is the unit matrix. The translation vector is also set to zero | |
83 | // as are the module id number. The detector type is set to -1 (an undefined | |
84 | // value). The full rotation matrix is kept so that the evaluation | |
85 | // of a coordinate transformation can be done quickly and with a minimum | |
86 | // of CPU overhead. The basic coordinate systems are the ALICE global | |
87 | // coordinate system and the detector local coordinate system. In general | |
88 | // this structure is not limited to just those two coordinate systems. | |
89 | //Begin_Html | |
90 | /* | |
91 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> | |
92 | */ | |
93 | //End_Html | |
94 | //////////////////////////////////////////////////////////////////////// | |
95 | Int_t i,j; | |
96 | ||
97 | fDetectorIndex = -1; // a value never defined. | |
98 | for(i=0;i<3;i++){ | |
99 | fid[i] = 0; | |
100 | frot[i] = ftran[i] = 0.0; | |
101 | for(j=0;j<3;j++) fm[i][j] = 0.0; | |
d8cc8493 | 102 | fCylR = fCylPhi = 0.0; |
df5240ea | 103 | }// end for i |
104 | fm[0][0] = fm[1][1] = fm[2][2] = 1.0; | |
105 | } | |
106 | //---------------------------------------------------------------------- | |
107 | AliITSgeomMatrix::AliITSgeomMatrix(const AliITSgeomMatrix &sourse){ | |
108 | //////////////////////////////////////////////////////////////////////// | |
109 | // The standard copy constructor. This make a full / proper copy of | |
110 | // this class. | |
111 | //////////////////////////////////////////////////////////////////////// | |
112 | Int_t i,j; | |
113 | ||
114 | this->fDetectorIndex = sourse.fDetectorIndex; | |
115 | for(i=0;i<3;i++){ | |
116 | this->fid[i] = sourse.fid[i]; | |
117 | this->frot[i] = sourse.frot[i]; | |
118 | this->ftran[i] = sourse.ftran[i]; | |
d8cc8493 | 119 | this->fCylR = sourse.fCylR; |
120 | this->fCylPhi = sourse.fCylPhi; | |
df5240ea | 121 | for(j=0;j<3;j++) this->fm[i][j] = sourse.fm[i][j]; |
122 | }// end for i | |
123 | } | |
124 | //---------------------------------------------------------------------- | |
125 | void AliITSgeomMatrix::operator=(const AliITSgeomMatrix &sourse){ | |
126 | //////////////////////////////////////////////////////////////////////// | |
127 | // The standard = operator. This make a full / proper copy of | |
128 | // this class. | |
129 | //////////////////////////////////////////////////////////////////////// | |
130 | Int_t i,j; | |
131 | ||
132 | this->fDetectorIndex = sourse.fDetectorIndex; | |
133 | for(i=0;i<3;i++){ | |
134 | this->fid[i] = sourse.fid[i]; | |
135 | this->frot[i] = sourse.frot[i]; | |
136 | this->ftran[i] = sourse.ftran[i]; | |
d8cc8493 | 137 | this->fCylR = sourse.fCylR; |
138 | this->fCylPhi = sourse.fCylPhi; | |
df5240ea | 139 | for(j=0;j<3;j++) this->fm[i][j] = sourse.fm[i][j]; |
140 | }// end for i | |
141 | } | |
142 | //---------------------------------------------------------------------- | |
143 | AliITSgeomMatrix::AliITSgeomMatrix(const Int_t idt,const Int_t id[3], | |
144 | const Double_t rot[3],const Double_t tran[3]){ | |
145 | //////////////////////////////////////////////////////////////////////// | |
146 | // This is a constructor for the AliITSgeomMatrix class. The matrix is | |
147 | // defined by 3 standard rotation angles [radians], and the translation | |
148 | // vector tran [cm]. In addition the layer, ladder, and detector number | |
149 | // for this particular module and the type of module must be given. | |
150 | // The full rotation matrix is kept so that the evaluation | |
151 | // of a coordinate transformation can be done quickly and with a minimum | |
152 | // of CPU overhead. The basic coordinate systems are the ALICE global | |
153 | // coordinate system and the detector local coordinate system. In general | |
154 | // this structure is not limited to just those two coordinate systems. | |
155 | //Begin_Html | |
156 | /* | |
157 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> | |
158 | */ | |
159 | //End_Html | |
160 | //////////////////////////////////////////////////////////////////////// | |
d8cc8493 | 161 | Int_t i; |
df5240ea | 162 | |
d8cc8493 | 163 | fDetectorIndex = idt; // a value never defined. |
164 | for(i=0;i<3;i++){ | |
165 | fid[i] = id[i]; | |
166 | frot[i] = rot[i]; | |
167 | ftran[i] = tran[i]; | |
168 | }// end for i | |
169 | fCylR = TMath::Sqrt(ftran[0]*ftran[0]+ftran[1]*ftran[1]); | |
170 | fCylPhi = TMath::ATan2(ftran[1],ftran[0]); | |
171 | if(fCylPhi<0.0) fCylPhi += TMath::Pi(); | |
172 | this->MatrixFromAngle(); | |
df5240ea | 173 | } |
174 | //---------------------------------------------------------------------- | |
175 | AliITSgeomMatrix::AliITSgeomMatrix(const Int_t idt, const Int_t id[3], | |
d962cab4 | 176 | Double_t matrix[3][3], |
df5240ea | 177 | const Double_t tran[3]){ |
178 | //////////////////////////////////////////////////////////////////////// | |
179 | // This is a constructor for the AliITSgeomMatrix class. The rotation matrix | |
180 | // is given as one of the inputs, and the translation vector tran [cm]. In | |
181 | // addition the layer, ladder, and detector number for this particular | |
182 | // module and the type of module must be given. The full rotation matrix | |
183 | // is kept so that the evaluation of a coordinate transformation can be | |
184 | // done quickly and with a minimum of CPU overhead. The basic coordinate | |
185 | // systems are the ALICE global coordinate system and the detector local | |
186 | // coordinate system. In general this structure is not limited to just | |
187 | // those two coordinate systems. | |
188 | //Begin_Html | |
189 | /* | |
190 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> | |
191 | */ | |
192 | //End_Html | |
193 | //////////////////////////////////////////////////////////////////////// | |
d8cc8493 | 194 | Int_t i,j; |
df5240ea | 195 | |
d8cc8493 | 196 | fDetectorIndex = idt; // a value never defined. |
197 | for(i=0;i<3;i++){ | |
198 | fid[i] = id[i]; | |
199 | ftran[i] = tran[i]; | |
200 | for(j=0;j<3;j++) fm[i][j] = matrix[i][j]; | |
201 | }// end for i | |
202 | fCylR = TMath::Sqrt(ftran[0]*ftran[0]+ftran[1]*ftran[1]); | |
203 | fCylPhi = TMath::ATan2(ftran[1],ftran[0]); | |
204 | if(fCylPhi<0.0) fCylPhi += TMath::Pi(); | |
205 | this->AngleFromMatrix(); | |
df5240ea | 206 | } |
207 | //---------------------------------------------------------------------- | |
208 | void AliITSgeomMatrix::SixAnglesFromMatrix(Double_t *ang){ | |
209 | //////////////////////////////////////////////////////////////////////// | |
210 | // This function returns the 6 GEANT 3.21 rotation angles [degrees] in | |
211 | // the array ang which must be at least [6] long. | |
212 | //////////////////////////////////////////////////////////////////////// | |
213 | Double_t si,c=180./TMath::Pi(); | |
214 | ||
215 | ang[1] = TMath::ATan2(fm[0][1],fm[0][0]); | |
216 | if(TMath::Cos(ang[1])!=0.0) si = fm[0][0]/TMath::Cos(ang[1]); | |
217 | else si = fm[0][1]/TMath::Sin(ang[1]); | |
218 | ang[0] = TMath::ATan2(si,fm[0][2]); | |
219 | ||
220 | ang[3] = TMath::ATan2(fm[1][1],fm[1][0]); | |
221 | if(TMath::Cos(ang[3])!=0.0) si = fm[1][0]/TMath::Cos(ang[3]); | |
222 | else si = fm[1][1]/TMath::Sin(ang[3]); | |
3f616de1 | 223 | ang[2] = TMath::ATan2(si,fm[1][2]); |
df5240ea | 224 | |
3f616de1 | 225 | ang[5] = TMath::ATan2(fm[2][1],fm[2][0]); |
226 | if(TMath::Cos(ang[5])!=0.0) si = fm[2][0]/TMath::Cos(ang[5]); | |
227 | else si = fm[2][1]/TMath::Sin(ang[5]); | |
228 | ang[4] = TMath::ATan2(si,fm[2][2]); | |
df5240ea | 229 | |
230 | for(Int_t i=0;i<6;i++) {ang[i] *= c; if(ang[i]<0.0) ang[i] += 360.;} | |
231 | } | |
232 | //---------------------------------------------------------------------- | |
233 | void AliITSgeomMatrix::MatrixFromSixAngles(const Double_t *ang){ | |
234 | //////////////////////////////////////////////////////////////////////// | |
235 | // Given the 6 GEANT 3.21 rotation angles [degree], this will compute and | |
236 | // set the rotations matrix and 3 standard rotation angles [radians]. | |
237 | // These angles and rotation matrix are overwrite the existing values in | |
238 | // this class. | |
239 | //////////////////////////////////////////////////////////////////////// | |
240 | Int_t i,j; | |
241 | Double_t si,lr[9],c=TMath::Pi()/180.; | |
242 | ||
243 | si = TMath::Sin(c*ang[0]); | |
244 | if(ang[0]== 90.0) si = +1.0; | |
245 | if(ang[0]==270.0) si = -1.0; | |
246 | if(ang[0]== 0.0||ang[0]==180.) si = 0.0; | |
247 | lr[0] = si * TMath::Cos(c*ang[1]); | |
248 | lr[1] = si * TMath::Sin(c*ang[1]); | |
249 | lr[2] = TMath::Cos(c*ang[0]); | |
250 | if(ang[0]== 90.0||ang[0]==270.) lr[2] = 0.0; | |
251 | if(ang[0]== 0.0) lr[2] = +1.0; | |
252 | if(ang[0]==180.0) lr[2] = -1.0; | |
253 | // | |
254 | si = TMath::Sin(c*ang[2]); | |
255 | if(ang[2]== 90.0) si = +1.0; | |
256 | if(ang[2]==270.0) si = -1.0; | |
257 | if(ang[2]== 0.0||ang[2]==180.) si = 0.0; | |
258 | lr[3] = si * TMath::Cos(c*ang[3]); | |
259 | lr[4] = si * TMath::Sin(c*ang[3]); | |
260 | lr[5] = TMath::Cos(c*ang[2]); | |
261 | if(ang[2]== 90.0||ang[2]==270.) lr[5] = 0.0; | |
262 | if(ang[2]== 0.0) lr[5] = +1.0; | |
263 | if(ang[2]==180.0) lr[5] = -1.0; | |
264 | // | |
265 | si = TMath::Sin(c*ang[4]); | |
266 | if(ang[4]== 90.0) si = +1.0; | |
267 | if(ang[4]==270.0) si = -1.0; | |
268 | if(ang[4]== 0.0||ang[4]==180.) si = 0.0; | |
269 | lr[6] = si * TMath::Cos(c*ang[5]); | |
270 | lr[7] = si * TMath::Sin(c*ang[5]); | |
271 | lr[8] = TMath::Cos(c*ang[4]); | |
272 | if(ang[4]== 90.0||ang[4]==270.0) lr[8] = 0.0; | |
273 | if(ang[4]== 0.0) lr[8] = +1.0; | |
274 | if(ang[4]==180.0) lr[8] = -1.0; | |
275 | // Normalize these elements and fill matrix fm. | |
276 | for(i=0;i<3;i++){// reuse si. | |
277 | si = 0.0; | |
278 | for(j=0;j<3;j++) si += lr[3*i+j]*lr[3*i+j]; | |
279 | si = TMath::Sqrt(1./si); | |
280 | for(j=0;j<3;j++) fm[i][j] = si*lr[3*i+j]; | |
281 | } // end for i | |
282 | this->AngleFromMatrix(); | |
283 | } | |
284 | //---------------------------------------------------------------------- | |
285 | AliITSgeomMatrix::AliITSgeomMatrix(const Double_t rotd[6]/*degrees*/, | |
286 | const Int_t idt,const Int_t id[3], | |
287 | const Double_t tran[3]){ | |
288 | //////////////////////////////////////////////////////////////////////// | |
289 | // This is a constructor for the AliITSgeomMatrix class. The matrix is | |
290 | // defined by the 6 GEANT 3.21 rotation angles [degrees], and the translation | |
291 | // vector tran [cm]. In addition the layer, ladder, and detector number | |
292 | // for this particular module and the type of module must be given. | |
293 | // The full rotation matrix is kept so that the evaluation | |
294 | // of a coordinate transformation can be done quickly and with a minimum | |
295 | // of CPU overhead. The basic coordinate systems are the ALICE global | |
296 | // coordinate system and the detector local coordinate system. In general | |
297 | // this structure is not limited to just those two coordinate systems. | |
298 | //Begin_Html | |
299 | /* | |
300 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> | |
301 | */ | |
302 | //End_Html | |
303 | //////////////////////////////////////////////////////////////////////// | |
304 | Int_t i; | |
305 | ||
306 | fDetectorIndex = idt; // a value never defined. | |
307 | for(i=0;i<3;i++){ | |
308 | fid[i] = id[i]; | |
309 | ftran[i] = tran[i]; | |
310 | }// end for i | |
d8cc8493 | 311 | fCylR = TMath::Sqrt(ftran[0]*ftran[0]+ftran[1]*ftran[1]); |
312 | fCylPhi = TMath::ATan2(ftran[1],ftran[0]); | |
313 | if(fCylPhi<0.0) fCylPhi += TMath::Pi(); | |
df5240ea | 314 | this->MatrixFromSixAngles(rotd); |
315 | } | |
316 | //---------------------------------------------------------------------- | |
317 | void AliITSgeomMatrix::AngleFromMatrix(){ | |
318 | //////////////////////////////////////////////////////////////////////// | |
319 | // Computes the angles from the rotation matrix up to a phase of 180 degrees. | |
320 | //////////////////////////////////////////////////////////////////////// | |
321 | Double_t rx,ry,rz; | |
322 | // get angles from matrix up to a phase of 180 degrees. | |
323 | ||
324 | rx = TMath::ATan2(fm[2][1],fm[2][2]);if(rx<0.0) rx += 2.0*TMath::Pi(); | |
325 | ry = TMath::ASin(fm[0][2]); if(ry<0.0) ry += 2.0*TMath::Pi(); | |
326 | rz = TMath::ATan2(fm[1][1],fm[0][0]);if(rz<0.0) rz += 2.0*TMath::Pi(); | |
327 | frot[0] = rx; | |
328 | frot[1] = ry; | |
329 | frot[2] = rz; | |
330 | return; | |
331 | } | |
332 | //---------------------------------------------------------------------- | |
333 | void AliITSgeomMatrix::MatrixFromAngle(){ | |
334 | //////////////////////////////////////////////////////////////////////// | |
335 | // Computes the Rotation matrix from the angles [radians] kept in this | |
336 | // class. | |
337 | //////////////////////////////////////////////////////////////////////// | |
338 | Double_t sx,sy,sz,cx,cy,cz; | |
339 | ||
340 | sx = TMath::Sin(frot[0]); cx = TMath::Cos(frot[0]); | |
341 | sy = TMath::Sin(frot[1]); cy = TMath::Cos(frot[1]); | |
342 | sz = TMath::Sin(frot[2]); cz = TMath::Cos(frot[2]); | |
343 | fm[0][0] = cz*cy; // fr[0] | |
344 | fm[0][1] = -cz*sy*sx - sz*cx; // fr[1] | |
345 | fm[0][2] = -cz*sy*cx + sz*sx; // fr[2] | |
346 | fm[1][0] = sz*cy; // fr[3] | |
347 | fm[1][1] = -sz*sy*sx + cz*cx; // fr[4] | |
348 | fm[1][2] = -sz*sy*cx - cz*sx; // fr[5] | |
349 | fm[2][0] = sy; // fr[6] | |
350 | fm[2][1] = cy*sx; // fr[7] | |
351 | fm[2][2] = cy*cx; // fr[8] | |
352 | ||
353 | } | |
354 | //---------------------------------------------------------------------- | |
355 | void AliITSgeomMatrix::GtoLPosition(const Double_t g0[3],Double_t l[3]){ | |
356 | //////////////////////////////////////////////////////////////////////// | |
357 | // Returns the local coordinates given the global coordinates [cm]. | |
358 | //////////////////////////////////////////////////////////////////////// | |
359 | Int_t i,j; | |
360 | Double_t g[3]; | |
361 | ||
362 | for(i=0;i<3;i++) g[i] = g0[i] - ftran[i]; | |
363 | for(i=0;i<3;i++){ | |
364 | l[i] = 0.0; | |
365 | for(j=0;j<3;j++) l[i] += fm[i][j]*g[j]; | |
366 | // g = R l + translation | |
367 | } // end for i | |
368 | return; | |
369 | } | |
370 | //---------------------------------------------------------------------- | |
371 | void AliITSgeomMatrix::LtoGPosition(const Double_t l[3],Double_t g[3]){ | |
372 | //////////////////////////////////////////////////////////////////////// | |
373 | // Returns the global coordinates given the local coordinates [cm]. | |
374 | //////////////////////////////////////////////////////////////////////// | |
375 | Int_t i,j; | |
376 | ||
377 | for(i=0;i<3;i++){ | |
378 | g[i] = 0.0; | |
379 | for(j=0;j<3;j++) g[i] += fm[j][i]*l[j]; | |
380 | g[i] += ftran[i]; | |
381 | // g = R^t l + translation | |
382 | } // end for i | |
383 | return; | |
384 | } | |
385 | //---------------------------------------------------------------------- | |
386 | void AliITSgeomMatrix::GtoLMomentum(const Double_t g[3],Double_t l[3]){ | |
387 | //////////////////////////////////////////////////////////////////////// | |
388 | // Returns the local coordinates of the momentum given the global | |
389 | // coordinates of the momentum. It transforms just like GtoLPosition | |
390 | // except that the translation vector is zero. | |
391 | //////////////////////////////////////////////////////////////////////// | |
392 | Int_t i,j; | |
393 | ||
394 | for(i=0;i<3;i++){ | |
395 | l[i] = 0.0; | |
396 | for(j=0;j<3;j++) l[i] += fm[i][j]*g[j]; | |
397 | // g = R l | |
398 | } // end for i | |
399 | return; | |
400 | } | |
401 | //---------------------------------------------------------------------- | |
402 | void AliITSgeomMatrix::LtoGMomentum(const Double_t l[3],Double_t g[3]){ | |
403 | //////////////////////////////////////////////////////////////////////// | |
404 | // Returns the Global coordinates of the momentum given the local | |
405 | // coordinates of the momentum. It transforms just like LtoGPosition | |
406 | // except that the translation vector is zero. | |
407 | //////////////////////////////////////////////////////////////////////// | |
408 | Int_t i,j; | |
409 | ||
410 | for(i=0;i<3;i++){ | |
411 | g[i] = 0.0; | |
412 | for(j=0;j<3;j++) g[i] += fm[j][i]*l[j]; | |
413 | // g = R^t l | |
414 | } // end for i | |
415 | return; | |
416 | } | |
417 | //---------------------------------------------------------------------- | |
85f1e34a | 418 | void AliITSgeomMatrix::GtoLPositionError(const Double_t g[3][3], |
df5240ea | 419 | Double_t l[3][3]){ |
420 | //////////////////////////////////////////////////////////////////////// | |
421 | // Given an Uncertainty matrix in Global coordinates it is rotated so that | |
422 | // its representation in local coordinates can be returned. There is no | |
423 | // effect due to the translation vector or its uncertainty. | |
424 | //////////////////////////////////////////////////////////////////////// | |
425 | Int_t i,j,k,m; | |
426 | ||
427 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) | |
428 | l[i][m] = fm[j][i]*g[j][k]*fm[k][m]; | |
429 | // g = R^t l R | |
430 | return; | |
431 | } | |
432 | //---------------------------------------------------------------------- | |
85f1e34a | 433 | void AliITSgeomMatrix::LtoGPositionError(const Double_t l[3][3], |
df5240ea | 434 | Double_t g[3][3]){ |
435 | //////////////////////////////////////////////////////////////////////// | |
436 | // Given an Uncertainty matrix in Local coordinates it is rotated so that | |
437 | // its representation in global coordinates can be returned. There is no | |
438 | // effect due to the translation vector or its uncertainty. | |
439 | //////////////////////////////////////////////////////////////////////// | |
440 | Int_t i,j,k,m; | |
441 | ||
442 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) | |
443 | g[i][m] = fm[i][j]*l[j][k]*fm[m][k]; | |
444 | // g = R l R^t | |
445 | return; | |
446 | } | |
447 | //---------------------------------------------------------------------- | |
448 | void AliITSgeomMatrix::GtoLPositionTracking(const Double_t g0[3], | |
449 | Double_t l[3]){ | |
450 | //////////////////////////////////////////////////////////////////////// | |
451 | // A slightly different coordinate system is used when tracking. | |
452 | // This coordinate system is only relevant when the geometry represents | |
453 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
454 | // alone but X -> -Y and Y -> X such that X always points out of the | |
455 | // ITS Cylinder for every layer including layer 1 (where the detector | |
456 | // are mounted upside down). | |
457 | //Begin_Html | |
458 | /* | |
459 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
460 | */ | |
461 | //End_Html | |
462 | //////////////////////////////////////////////////////////////////////// | |
463 | Double_t l0[3]; | |
464 | ||
465 | this->GtoLPosition(g0,l0); | |
466 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down | |
467 | // with respect to the others. | |
468 | l[0] = +l0[1]; | |
469 | l[1] = -l0[0]; | |
470 | l[2] = +l0[2]; | |
471 | }else{ | |
472 | l[0] = -l0[1]; | |
473 | l[1] = +l0[0]; | |
474 | l[2] = +l0[2]; | |
475 | } // end if | |
476 | return; | |
477 | } | |
478 | //---------------------------------------------------------------------- | |
479 | void AliITSgeomMatrix::LtoGPositionTracking(const Double_t l[3], | |
480 | Double_t g[3]){ | |
481 | //////////////////////////////////////////////////////////////////////// | |
482 | // A slightly different coordinate system is used when tracking. | |
483 | // This coordinate system is only relevant when the geometry represents | |
484 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
485 | // alone but X -> -Y and Y -> X such that X always points out of the | |
486 | // ITS Cylinder for every layer including layer 1 (where the detector | |
487 | // are mounted upside down). | |
488 | //Begin_Html | |
489 | /* | |
490 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
491 | */ | |
492 | //End_Html | |
493 | //////////////////////////////////////////////////////////////////////// | |
494 | Double_t l0[3]; | |
495 | ||
496 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down | |
497 | // with respect to the others. | |
498 | l0[0] = -l[1]; | |
499 | l0[1] = +l[0]; | |
500 | l0[2] = +l[2]; | |
501 | }else{ | |
502 | l0[0] = +l[1]; | |
503 | l0[1] = -l[0]; | |
504 | l0[2] = +l[2]; | |
505 | } // end if | |
506 | this->LtoGPosition(l0,g); | |
507 | return; | |
508 | } | |
509 | //---------------------------------------------------------------------- | |
510 | void AliITSgeomMatrix::GtoLMomentumTracking(const Double_t g[3], | |
511 | Double_t l[3]){ | |
512 | //////////////////////////////////////////////////////////////////////// | |
513 | // A slightly different coordinate system is used when tracking. | |
514 | // This coordinate system is only relevant when the geometry represents | |
515 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
516 | // alone but X -> -Y and Y -> X such that X always points out of the | |
517 | // ITS Cylinder for every layer including layer 1 (where the detector | |
518 | // are mounted upside down). | |
519 | //Begin_Html | |
520 | /* | |
521 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
522 | */ | |
523 | //End_Html | |
524 | //////////////////////////////////////////////////////////////////////// | |
525 | Double_t l0[3]; | |
526 | ||
527 | this->GtoLMomentum(g,l0); | |
528 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down | |
529 | // with respect to the others. | |
530 | l[0] = +l0[1]; | |
531 | l[1] = -l0[0]; | |
532 | l[2] = +l0[2]; | |
533 | }else{ | |
534 | l[0] = -l0[1]; | |
535 | l[1] = +l0[0]; | |
536 | l[2] = +l0[2]; | |
537 | } // end if | |
538 | return; | |
539 | return; | |
540 | } | |
541 | //---------------------------------------------------------------------- | |
542 | void AliITSgeomMatrix::LtoGMomentumTracking(const Double_t l[3], | |
543 | Double_t g[3]){ | |
544 | //////////////////////////////////////////////////////////////////////// | |
545 | // A slightly different coordinate system is used when tracking. | |
546 | // This coordinate system is only relevant when the geometry represents | |
547 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
548 | // alone but X -> -Y and Y -> X such that X always points out of the | |
549 | // ITS Cylinder for every layer including layer 1 (where the detector | |
550 | // are mounted upside down). | |
551 | //Begin_Html | |
552 | /* | |
553 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
554 | */ | |
555 | //End_Html | |
556 | //////////////////////////////////////////////////////////////////////// | |
557 | Double_t l0[3]; | |
558 | ||
559 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down | |
560 | // with respect to the others. | |
561 | l0[0] = -l[1]; | |
562 | l0[1] = +l[0]; | |
563 | l0[2] = +l[2]; | |
564 | }else{ | |
565 | l0[0] = +l[1]; | |
566 | l0[1] = -l[0]; | |
567 | l0[2] = +l[2]; | |
568 | } // end if | |
569 | this->LtoGMomentum(l0,g); | |
570 | return; | |
571 | } | |
572 | //---------------------------------------------------------------------- | |
85f1e34a | 573 | void AliITSgeomMatrix::GtoLPositionErrorTracking(const Double_t g[3][3], |
df5240ea | 574 | Double_t l[3][3]){ |
575 | //////////////////////////////////////////////////////////////////////// | |
576 | // A slightly different coordinate system is used when tracking. | |
577 | // This coordinate system is only relevant when the geometry represents | |
578 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
579 | // alone but X -> -Y and Y -> X such that X always points out of the | |
580 | // ITS Cylinder for every layer including layer 1 (where the detector | |
581 | // are mounted upside down). | |
582 | //Begin_Html | |
583 | /* | |
584 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
585 | */ | |
586 | //End_Html | |
587 | //////////////////////////////////////////////////////////////////////// | |
588 | Int_t i,j,k,m; | |
85f1e34a | 589 | Double_t rt[3][3]; |
590 | Double_t a0[3][3] = {{0.,+1.,0.},{-1.,0.,0.},{0.,0.,+1.}}; | |
591 | Double_t a1[3][3] = {{0.,-1.,0.},{+1.,0.,0.},{0.,0.,+1.}}; | |
df5240ea | 592 | |
593 | if(fid[0]==1) for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) | |
85f1e34a | 594 | rt[i][k] = a0[i][j]*fm[j][k]; |
df5240ea | 595 | else for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) |
85f1e34a | 596 | rt[i][k] = a1[i][j]*fm[j][k]; |
df5240ea | 597 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) |
85f1e34a | 598 | l[i][m] = rt[j][i]*g[j][k]*rt[k][m]; |
df5240ea | 599 | // g = R^t l R |
600 | return; | |
601 | } | |
602 | //---------------------------------------------------------------------- | |
85f1e34a | 603 | void AliITSgeomMatrix::LtoGPositionErrorTracking(const Double_t l[3][3], |
df5240ea | 604 | Double_t g[3][3]){ |
605 | //////////////////////////////////////////////////////////////////////// | |
606 | // A slightly different coordinate system is used when tracking. | |
607 | // This coordinate system is only relevant when the geometry represents | |
608 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
609 | // alone but X -> -Y and Y -> X such that X always points out of the | |
610 | // ITS Cylinder for every layer including layer 1 (where the detector | |
611 | // are mounted upside down). | |
612 | //Begin_Html | |
613 | /* | |
614 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
615 | */ | |
616 | //End_Html | |
617 | //////////////////////////////////////////////////////////////////////// | |
618 | Int_t i,j,k,m; | |
85f1e34a | 619 | Double_t rt[3][3]; |
620 | Double_t a0[3][3] = {{0.,+1.,0.},{-1.,0.,0.},{0.,0.,+1.}}; | |
621 | Double_t a1[3][3] = {{0.,-1.,0.},{+1.,0.,0.},{0.,0.,+1.}}; | |
df5240ea | 622 | |
623 | if(fid[0]==1) for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) | |
85f1e34a | 624 | rt[i][k] = a0[i][j]*fm[j][k]; |
df5240ea | 625 | else for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) |
85f1e34a | 626 | rt[i][k] = a1[i][j]*fm[j][k]; |
df5240ea | 627 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) |
85f1e34a | 628 | g[i][m] = rt[i][j]*l[j][k]*rt[m][k]; |
df5240ea | 629 | // g = R l R^t |
630 | return; | |
631 | } | |
632 | //---------------------------------------------------------------------- | |
633 | void AliITSgeomMatrix::PrintTitles(ostream *os){ | |
634 | //////////////////////////////////////////////////////////////////////// | |
635 | // Standard output format for this class but it includes variable | |
636 | // names and formatting that makes it easer to read. | |
637 | //////////////////////////////////////////////////////////////////////// | |
638 | Int_t i,j; | |
639 | ||
640 | *os << "fDetectorIndex=" << fDetectorIndex << " fid[3]={"; | |
641 | for(i=0;i<3;i++) *os << fid[i] << " "; | |
642 | *os << "} frot[3]={"; | |
643 | for(i=0;i<3;i++) *os << frot[i] << " "; | |
644 | *os << "} ftran[3]={"; | |
645 | for(i=0;i<3;i++) *os << ftran[i] << " "; | |
646 | *os << "} fm[3][3]={"; | |
647 | for(i=0;i<3;i++){for(j=0;j<3;j++){ *os << fm[i][j] << " ";} *os <<"}{";} | |
648 | *os << "}" << endl; | |
649 | return; | |
650 | } | |
651 | //---------------------------------------------------------------------- | |
8253cd9a | 652 | void AliITSgeomMatrix::PrintComment(ostream *os){ |
653 | //////////////////////////////////////////////////////////////////////// | |
654 | // output format used by Print.. | |
655 | //////////////////////////////////////////////////////////////////////// | |
656 | *os << "fDetectorIndex fid[0] fid[1] fid[2] ftran[0] ftran[1] ftran[2] "; | |
657 | *os << "fm[0][0] fm[0][1] fm[0][2] fm[1][0] fm[1][1] fm[1][2] "; | |
658 | *os << "fm[2][0] fm[2][1] fm[2][2] "; | |
659 | return; | |
660 | } | |
661 | //---------------------------------------------------------------------- | |
662 | void AliITSgeomMatrix::Print(ostream *os){ | |
df5240ea | 663 | //////////////////////////////////////////////////////////////////////// |
664 | // Standard output format for this class. | |
665 | //////////////////////////////////////////////////////////////////////// | |
666 | Int_t i,j; | |
31b8cd63 | 667 | Int_t fmt; |
df5240ea | 668 | |
8253cd9a | 669 | fmt = os->setf(ios::scientific); // set scientific floating point output |
df5240ea | 670 | *os << fDetectorIndex << " "; |
671 | for(i=0;i<3;i++) *os << fid[i] << " "; | |
8253cd9a | 672 | // for(i=0;i<3;i++) *os << frot[i] << " "; // Redundant with fm[][]. |
673 | for(i=0;i<3;i++) *os << setprecision(16) << ftran[i] << " "; | |
674 | for(i=0;i<3;i++)for(j=0;j<3;j++) *os << setprecision(16) << | |
675 | fm[i][j] << " "; | |
df5240ea | 676 | *os << endl; |
8253cd9a | 677 | os->flags(fmt); // reset back to old formating. |
df5240ea | 678 | return; |
679 | } | |
680 | //---------------------------------------------------------------------- | |
8253cd9a | 681 | void AliITSgeomMatrix::Read(istream *is){ |
df5240ea | 682 | //////////////////////////////////////////////////////////////////////// |
683 | // Standard input format for this class. | |
684 | //////////////////////////////////////////////////////////////////////// | |
685 | Int_t i,j; | |
686 | ||
687 | *is >> fDetectorIndex; | |
688 | for(i=0;i<3;i++) *is >> fid[i]; | |
8253cd9a | 689 | // for(i=0;i<3;i++) *is >> frot[i]; // Redundant with fm[][]. |
df5240ea | 690 | for(i=0;i<3;i++) *is >> ftran[i]; |
691 | for(i=0;i<3;i++)for(j=0;j<3;j++) *is >> fm[i][j]; | |
8253cd9a | 692 | AngleFromMatrix(); // compute angles frot[]. |
d8cc8493 | 693 | fCylR = TMath::Sqrt(ftran[0]*ftran[0]+ftran[1]*ftran[1]); |
694 | fCylPhi = TMath::ATan2(ftran[1],ftran[0]); | |
695 | if(fCylPhi<0.0) fCylPhi += TMath::Pi(); | |
df5240ea | 696 | return; |
697 | } | |
d8cc8493 | 698 | //______________________________________________________________________ |
699 | void AliITSgeomMatrix::Streamer(TBuffer &R__b){ | |
700 | // Stream an object of class AliITSgeomMatrix. | |
701 | ||
702 | if (R__b.IsReading()) { | |
703 | AliITSgeomMatrix::Class()->ReadBuffer(R__b, this); | |
704 | fCylR = TMath::Sqrt(ftran[0]*ftran[0]+ftran[1]*ftran[1]); | |
705 | fCylPhi = TMath::ATan2(ftran[1],ftran[0]); | |
706 | this->AngleFromMatrix(); | |
707 | if(fCylPhi<0.0) fCylPhi += TMath::Pi(); | |
708 | } else { | |
709 | AliITSgeomMatrix::Class()->WriteBuffer(R__b, this); | |
710 | } | |
711 | } | |
df5240ea | 712 | //---------------------------------------------------------------------- |
713 | ostream &operator<<(ostream &os,AliITSgeomMatrix &p){ | |
714 | //////////////////////////////////////////////////////////////////////// | |
715 | // Standard output streaming function. | |
716 | //////////////////////////////////////////////////////////////////////// | |
717 | ||
8253cd9a | 718 | p.Print(&os); |
df5240ea | 719 | return os; |
720 | } | |
721 | //---------------------------------------------------------------------- | |
722 | istream &operator>>(istream &is,AliITSgeomMatrix &r){ | |
723 | //////////////////////////////////////////////////////////////////////// | |
724 | // Standard input streaming function. | |
725 | //////////////////////////////////////////////////////////////////////// | |
726 | ||
8253cd9a | 727 | r.Read(&is); |
df5240ea | 728 | return is; |
729 | } | |
8253cd9a | 730 | //---------------------------------------------------------------------- |