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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 | $Log$ | |
8d5bd3f9 | 18 | Revision 1.10 2001/08/24 21:06:37 nilsen |
19 | Added more documentation, fixed up some coding violations, and some | |
20 | forward declorations. | |
21 | ||
85f1e34a | 22 | Revision 1.9 2001/03/23 15:21:56 nilsen |
23 | Added Cylinderical Coordinates for use with Tracking. Fixed a but in the | |
24 | Streamer, It was not setting a value for frot[3] as it should when reading. | |
25 | ||
d8cc8493 | 26 | Revision 1.8 2001/02/09 00:00:57 nilsen |
27 | Fixed compatibility problem with HP unix {ios::fmtflags -> Int_t}. Fixed | |
28 | bugs in iostream based streamers used to read and write .det files. Fixed | |
29 | some detector sizes. Fixed bugs in some default-special constructors. | |
30 | ||
31b8cd63 | 31 | Revision 1.7 2001/02/03 00:00:30 nilsen |
32 | New version of AliITSgeom and related files. Now uses automatic streamers, | |
33 | set up for new formatted .det file which includes detector information. | |
34 | Additional smaller modifications are still to come. | |
35 | ||
a8a6107b | 36 | Revision 1.5 2000/10/02 16:32:35 barbera |
37 | Forward declaration added | |
38 | ||
92c19c36 | 39 | Revision 1.1.2.6 2000/10/02 15:52:05 barbera |
40 | Forward declaration added | |
41 | ||
42 | Revision 1.4 2000/09/07 17:30:45 nilsen | |
43 | fixed a bug in SixAnglesFromMatrix. | |
44 | ||
3f616de1 | 45 | Revision 1.3 2000/09/05 14:25:50 nilsen |
46 | Made fixes for HP compiler. All function parameter default values placed | |
47 | in .h file. Fixed the usual problem with HP comilers and the "for(Int_t i..." | |
48 | business. Replaced casting (Double_t [3][3]) to (Double_t (*)[3]) for HP. | |
49 | Lastly removed all "const" before function parameters which were 2 dim. arrays, | |
50 | because on HP root generates some strange code (?). Thanks Peter for the | |
51 | changes. | |
52 | ||
d962cab4 | 53 | Revision 1.2 2000/08/29 20:16:50 nilsen |
54 | New class for ITS coordiante transformations used by AliITSgeom nearly | |
55 | exclusively. | |
56 | ||
df5240ea | 57 | Revision 1.1.2.1 2000/06/04 16:32:31 Nilsen |
58 | A new class to hold the matrix information needed by AliITSgeom. | |
59 | ||
60 | */ | |
85f1e34a | 61 | |
62 | //////////////////////////////////////////////////////////////////////// | |
63 | // This is the implementation file for AliITSgeomMatrix class. It | |
64 | // contains the routines to manipulate, setup, and queary the geometry | |
65 | // of a given ITS module. An ITS module may be one of at least three | |
66 | // ITS detector technologies, Silicon Pixel, Drift, or Strip Detectors, | |
67 | // and variations of these in size and/or layout. These routines let | |
68 | // one go between ALICE global coordiantes (cm) to a given modules | |
69 | // specific local coordinates (cm). | |
70 | //////////////////////////////////////////////////////////////////////// | |
71 | ||
df5240ea | 72 | #include <iostream.h> |
8253cd9a | 73 | #include <iomanip.h> |
df5240ea | 74 | #include <TMath.h> |
75 | #include <TBuffer.h> | |
d8cc8493 | 76 | #include <TClass.h> |
df5240ea | 77 | |
78 | #include "AliITSgeomMatrix.h" | |
79 | ||
80 | ClassImp(AliITSgeomMatrix) | |
81 | //---------------------------------------------------------------------- | |
82 | AliITSgeomMatrix::AliITSgeomMatrix(){ | |
83 | //////////////////////////////////////////////////////////////////////// | |
84 | // The Default constructor for the AliITSgeomMatrix class. By Default | |
85 | // the angles of rotations are set to zero, meaning that the rotation | |
86 | // matrix is the unit matrix. The translation vector is also set to zero | |
87 | // as are the module id number. The detector type is set to -1 (an undefined | |
88 | // value). The full rotation matrix is kept so that the evaluation | |
89 | // of a coordinate transformation can be done quickly and with a minimum | |
90 | // of CPU overhead. The basic coordinate systems are the ALICE global | |
91 | // coordinate system and the detector local coordinate system. In general | |
92 | // this structure is not limited to just those two coordinate systems. | |
93 | //Begin_Html | |
94 | /* | |
95 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> | |
96 | */ | |
97 | //End_Html | |
98 | //////////////////////////////////////////////////////////////////////// | |
99 | Int_t i,j; | |
100 | ||
101 | fDetectorIndex = -1; // a value never defined. | |
102 | for(i=0;i<3;i++){ | |
103 | fid[i] = 0; | |
104 | frot[i] = ftran[i] = 0.0; | |
105 | for(j=0;j<3;j++) fm[i][j] = 0.0; | |
d8cc8493 | 106 | fCylR = fCylPhi = 0.0; |
df5240ea | 107 | }// end for i |
108 | fm[0][0] = fm[1][1] = fm[2][2] = 1.0; | |
109 | } | |
110 | //---------------------------------------------------------------------- | |
111 | AliITSgeomMatrix::AliITSgeomMatrix(const AliITSgeomMatrix &sourse){ | |
112 | //////////////////////////////////////////////////////////////////////// | |
113 | // The standard copy constructor. This make a full / proper copy of | |
114 | // this class. | |
115 | //////////////////////////////////////////////////////////////////////// | |
116 | Int_t i,j; | |
117 | ||
118 | this->fDetectorIndex = sourse.fDetectorIndex; | |
119 | for(i=0;i<3;i++){ | |
120 | this->fid[i] = sourse.fid[i]; | |
121 | this->frot[i] = sourse.frot[i]; | |
122 | this->ftran[i] = sourse.ftran[i]; | |
d8cc8493 | 123 | this->fCylR = sourse.fCylR; |
124 | this->fCylPhi = sourse.fCylPhi; | |
df5240ea | 125 | for(j=0;j<3;j++) this->fm[i][j] = sourse.fm[i][j]; |
126 | }// end for i | |
127 | } | |
128 | //---------------------------------------------------------------------- | |
129 | void AliITSgeomMatrix::operator=(const AliITSgeomMatrix &sourse){ | |
130 | //////////////////////////////////////////////////////////////////////// | |
131 | // The standard = operator. This make a full / proper copy of | |
132 | // this class. | |
133 | //////////////////////////////////////////////////////////////////////// | |
134 | Int_t i,j; | |
135 | ||
136 | this->fDetectorIndex = sourse.fDetectorIndex; | |
137 | for(i=0;i<3;i++){ | |
138 | this->fid[i] = sourse.fid[i]; | |
139 | this->frot[i] = sourse.frot[i]; | |
140 | this->ftran[i] = sourse.ftran[i]; | |
d8cc8493 | 141 | this->fCylR = sourse.fCylR; |
142 | this->fCylPhi = sourse.fCylPhi; | |
df5240ea | 143 | for(j=0;j<3;j++) this->fm[i][j] = sourse.fm[i][j]; |
144 | }// end for i | |
145 | } | |
146 | //---------------------------------------------------------------------- | |
147 | AliITSgeomMatrix::AliITSgeomMatrix(const Int_t idt,const Int_t id[3], | |
148 | const Double_t rot[3],const Double_t tran[3]){ | |
149 | //////////////////////////////////////////////////////////////////////// | |
150 | // This is a constructor for the AliITSgeomMatrix class. The matrix is | |
151 | // defined by 3 standard rotation angles [radians], and the translation | |
152 | // vector tran [cm]. In addition the layer, ladder, and detector number | |
153 | // for this particular module and the type of module must be given. | |
154 | // The full rotation matrix is kept so that the evaluation | |
155 | // of a coordinate transformation can be done quickly and with a minimum | |
156 | // of CPU overhead. The basic coordinate systems are the ALICE global | |
157 | // coordinate system and the detector local coordinate system. In general | |
158 | // this structure is not limited to just those two coordinate systems. | |
159 | //Begin_Html | |
160 | /* | |
161 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> | |
162 | */ | |
163 | //End_Html | |
164 | //////////////////////////////////////////////////////////////////////// | |
d8cc8493 | 165 | Int_t i; |
df5240ea | 166 | |
d8cc8493 | 167 | fDetectorIndex = idt; // a value never defined. |
168 | for(i=0;i<3;i++){ | |
169 | fid[i] = id[i]; | |
170 | frot[i] = rot[i]; | |
171 | ftran[i] = tran[i]; | |
172 | }// end for i | |
173 | fCylR = TMath::Sqrt(ftran[0]*ftran[0]+ftran[1]*ftran[1]); | |
174 | fCylPhi = TMath::ATan2(ftran[1],ftran[0]); | |
175 | if(fCylPhi<0.0) fCylPhi += TMath::Pi(); | |
176 | this->MatrixFromAngle(); | |
df5240ea | 177 | } |
178 | //---------------------------------------------------------------------- | |
179 | AliITSgeomMatrix::AliITSgeomMatrix(const Int_t idt, const Int_t id[3], | |
d962cab4 | 180 | Double_t matrix[3][3], |
df5240ea | 181 | const Double_t tran[3]){ |
182 | //////////////////////////////////////////////////////////////////////// | |
183 | // This is a constructor for the AliITSgeomMatrix class. The rotation matrix | |
184 | // is given as one of the inputs, and the translation vector tran [cm]. In | |
185 | // addition the layer, ladder, and detector number for this particular | |
186 | // module and the type of module must be given. The full rotation matrix | |
187 | // is kept so that the evaluation of a coordinate transformation can be | |
188 | // done quickly and with a minimum of CPU overhead. The basic coordinate | |
189 | // systems are the ALICE global coordinate system and the detector local | |
190 | // coordinate system. In general this structure is not limited to just | |
191 | // those two coordinate systems. | |
192 | //Begin_Html | |
193 | /* | |
194 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> | |
195 | */ | |
196 | //End_Html | |
197 | //////////////////////////////////////////////////////////////////////// | |
d8cc8493 | 198 | Int_t i,j; |
df5240ea | 199 | |
d8cc8493 | 200 | fDetectorIndex = idt; // a value never defined. |
201 | for(i=0;i<3;i++){ | |
202 | fid[i] = id[i]; | |
203 | ftran[i] = tran[i]; | |
204 | for(j=0;j<3;j++) fm[i][j] = matrix[i][j]; | |
205 | }// end for i | |
206 | fCylR = TMath::Sqrt(ftran[0]*ftran[0]+ftran[1]*ftran[1]); | |
207 | fCylPhi = TMath::ATan2(ftran[1],ftran[0]); | |
208 | if(fCylPhi<0.0) fCylPhi += TMath::Pi(); | |
209 | this->AngleFromMatrix(); | |
df5240ea | 210 | } |
211 | //---------------------------------------------------------------------- | |
212 | void AliITSgeomMatrix::SixAnglesFromMatrix(Double_t *ang){ | |
213 | //////////////////////////////////////////////////////////////////////// | |
214 | // This function returns the 6 GEANT 3.21 rotation angles [degrees] in | |
215 | // the array ang which must be at least [6] long. | |
216 | //////////////////////////////////////////////////////////////////////// | |
217 | Double_t si,c=180./TMath::Pi(); | |
218 | ||
219 | ang[1] = TMath::ATan2(fm[0][1],fm[0][0]); | |
220 | if(TMath::Cos(ang[1])!=0.0) si = fm[0][0]/TMath::Cos(ang[1]); | |
221 | else si = fm[0][1]/TMath::Sin(ang[1]); | |
222 | ang[0] = TMath::ATan2(si,fm[0][2]); | |
223 | ||
224 | ang[3] = TMath::ATan2(fm[1][1],fm[1][0]); | |
225 | if(TMath::Cos(ang[3])!=0.0) si = fm[1][0]/TMath::Cos(ang[3]); | |
226 | else si = fm[1][1]/TMath::Sin(ang[3]); | |
3f616de1 | 227 | ang[2] = TMath::ATan2(si,fm[1][2]); |
df5240ea | 228 | |
3f616de1 | 229 | ang[5] = TMath::ATan2(fm[2][1],fm[2][0]); |
230 | if(TMath::Cos(ang[5])!=0.0) si = fm[2][0]/TMath::Cos(ang[5]); | |
231 | else si = fm[2][1]/TMath::Sin(ang[5]); | |
232 | ang[4] = TMath::ATan2(si,fm[2][2]); | |
df5240ea | 233 | |
234 | for(Int_t i=0;i<6;i++) {ang[i] *= c; if(ang[i]<0.0) ang[i] += 360.;} | |
235 | } | |
236 | //---------------------------------------------------------------------- | |
237 | void AliITSgeomMatrix::MatrixFromSixAngles(const Double_t *ang){ | |
238 | //////////////////////////////////////////////////////////////////////// | |
239 | // Given the 6 GEANT 3.21 rotation angles [degree], this will compute and | |
240 | // set the rotations matrix and 3 standard rotation angles [radians]. | |
241 | // These angles and rotation matrix are overwrite the existing values in | |
242 | // this class. | |
243 | //////////////////////////////////////////////////////////////////////// | |
244 | Int_t i,j; | |
245 | Double_t si,lr[9],c=TMath::Pi()/180.; | |
246 | ||
247 | si = TMath::Sin(c*ang[0]); | |
248 | if(ang[0]== 90.0) si = +1.0; | |
249 | if(ang[0]==270.0) si = -1.0; | |
250 | if(ang[0]== 0.0||ang[0]==180.) si = 0.0; | |
251 | lr[0] = si * TMath::Cos(c*ang[1]); | |
252 | lr[1] = si * TMath::Sin(c*ang[1]); | |
253 | lr[2] = TMath::Cos(c*ang[0]); | |
254 | if(ang[0]== 90.0||ang[0]==270.) lr[2] = 0.0; | |
255 | if(ang[0]== 0.0) lr[2] = +1.0; | |
256 | if(ang[0]==180.0) lr[2] = -1.0; | |
257 | // | |
258 | si = TMath::Sin(c*ang[2]); | |
259 | if(ang[2]== 90.0) si = +1.0; | |
260 | if(ang[2]==270.0) si = -1.0; | |
261 | if(ang[2]== 0.0||ang[2]==180.) si = 0.0; | |
262 | lr[3] = si * TMath::Cos(c*ang[3]); | |
263 | lr[4] = si * TMath::Sin(c*ang[3]); | |
264 | lr[5] = TMath::Cos(c*ang[2]); | |
265 | if(ang[2]== 90.0||ang[2]==270.) lr[5] = 0.0; | |
266 | if(ang[2]== 0.0) lr[5] = +1.0; | |
267 | if(ang[2]==180.0) lr[5] = -1.0; | |
268 | // | |
269 | si = TMath::Sin(c*ang[4]); | |
270 | if(ang[4]== 90.0) si = +1.0; | |
271 | if(ang[4]==270.0) si = -1.0; | |
272 | if(ang[4]== 0.0||ang[4]==180.) si = 0.0; | |
273 | lr[6] = si * TMath::Cos(c*ang[5]); | |
274 | lr[7] = si * TMath::Sin(c*ang[5]); | |
275 | lr[8] = TMath::Cos(c*ang[4]); | |
276 | if(ang[4]== 90.0||ang[4]==270.0) lr[8] = 0.0; | |
277 | if(ang[4]== 0.0) lr[8] = +1.0; | |
278 | if(ang[4]==180.0) lr[8] = -1.0; | |
279 | // Normalize these elements and fill matrix fm. | |
280 | for(i=0;i<3;i++){// reuse si. | |
281 | si = 0.0; | |
282 | for(j=0;j<3;j++) si += lr[3*i+j]*lr[3*i+j]; | |
283 | si = TMath::Sqrt(1./si); | |
284 | for(j=0;j<3;j++) fm[i][j] = si*lr[3*i+j]; | |
285 | } // end for i | |
286 | this->AngleFromMatrix(); | |
287 | } | |
288 | //---------------------------------------------------------------------- | |
289 | AliITSgeomMatrix::AliITSgeomMatrix(const Double_t rotd[6]/*degrees*/, | |
290 | const Int_t idt,const Int_t id[3], | |
291 | const Double_t tran[3]){ | |
292 | //////////////////////////////////////////////////////////////////////// | |
293 | // This is a constructor for the AliITSgeomMatrix class. The matrix is | |
294 | // defined by the 6 GEANT 3.21 rotation angles [degrees], and the translation | |
295 | // vector tran [cm]. In addition the layer, ladder, and detector number | |
296 | // for this particular module and the type of module must be given. | |
297 | // The full rotation matrix is kept so that the evaluation | |
298 | // of a coordinate transformation can be done quickly and with a minimum | |
299 | // of CPU overhead. The basic coordinate systems are the ALICE global | |
300 | // coordinate system and the detector local coordinate system. In general | |
301 | // this structure is not limited to just those two coordinate systems. | |
302 | //Begin_Html | |
303 | /* | |
304 | <img src="picts/ITS/AliISgeomMatrix_L1.gif"> | |
305 | */ | |
306 | //End_Html | |
307 | //////////////////////////////////////////////////////////////////////// | |
308 | Int_t i; | |
309 | ||
310 | fDetectorIndex = idt; // a value never defined. | |
311 | for(i=0;i<3;i++){ | |
312 | fid[i] = id[i]; | |
313 | ftran[i] = tran[i]; | |
314 | }// end for i | |
d8cc8493 | 315 | fCylR = TMath::Sqrt(ftran[0]*ftran[0]+ftran[1]*ftran[1]); |
316 | fCylPhi = TMath::ATan2(ftran[1],ftran[0]); | |
317 | if(fCylPhi<0.0) fCylPhi += TMath::Pi(); | |
df5240ea | 318 | this->MatrixFromSixAngles(rotd); |
319 | } | |
320 | //---------------------------------------------------------------------- | |
321 | void AliITSgeomMatrix::AngleFromMatrix(){ | |
322 | //////////////////////////////////////////////////////////////////////// | |
323 | // Computes the angles from the rotation matrix up to a phase of 180 degrees. | |
324 | //////////////////////////////////////////////////////////////////////// | |
325 | Double_t rx,ry,rz; | |
326 | // get angles from matrix up to a phase of 180 degrees. | |
327 | ||
328 | rx = TMath::ATan2(fm[2][1],fm[2][2]);if(rx<0.0) rx += 2.0*TMath::Pi(); | |
329 | ry = TMath::ASin(fm[0][2]); if(ry<0.0) ry += 2.0*TMath::Pi(); | |
330 | rz = TMath::ATan2(fm[1][1],fm[0][0]);if(rz<0.0) rz += 2.0*TMath::Pi(); | |
331 | frot[0] = rx; | |
332 | frot[1] = ry; | |
333 | frot[2] = rz; | |
334 | return; | |
335 | } | |
336 | //---------------------------------------------------------------------- | |
337 | void AliITSgeomMatrix::MatrixFromAngle(){ | |
338 | //////////////////////////////////////////////////////////////////////// | |
339 | // Computes the Rotation matrix from the angles [radians] kept in this | |
340 | // class. | |
341 | //////////////////////////////////////////////////////////////////////// | |
342 | Double_t sx,sy,sz,cx,cy,cz; | |
343 | ||
344 | sx = TMath::Sin(frot[0]); cx = TMath::Cos(frot[0]); | |
345 | sy = TMath::Sin(frot[1]); cy = TMath::Cos(frot[1]); | |
346 | sz = TMath::Sin(frot[2]); cz = TMath::Cos(frot[2]); | |
347 | fm[0][0] = cz*cy; // fr[0] | |
348 | fm[0][1] = -cz*sy*sx - sz*cx; // fr[1] | |
349 | fm[0][2] = -cz*sy*cx + sz*sx; // fr[2] | |
350 | fm[1][0] = sz*cy; // fr[3] | |
351 | fm[1][1] = -sz*sy*sx + cz*cx; // fr[4] | |
352 | fm[1][2] = -sz*sy*cx - cz*sx; // fr[5] | |
353 | fm[2][0] = sy; // fr[6] | |
354 | fm[2][1] = cy*sx; // fr[7] | |
355 | fm[2][2] = cy*cx; // fr[8] | |
356 | ||
357 | } | |
358 | //---------------------------------------------------------------------- | |
359 | void AliITSgeomMatrix::GtoLPosition(const Double_t g0[3],Double_t l[3]){ | |
360 | //////////////////////////////////////////////////////////////////////// | |
361 | // Returns the local coordinates given the global coordinates [cm]. | |
362 | //////////////////////////////////////////////////////////////////////// | |
363 | Int_t i,j; | |
364 | Double_t g[3]; | |
365 | ||
366 | for(i=0;i<3;i++) g[i] = g0[i] - ftran[i]; | |
367 | for(i=0;i<3;i++){ | |
368 | l[i] = 0.0; | |
369 | for(j=0;j<3;j++) l[i] += fm[i][j]*g[j]; | |
370 | // g = R l + translation | |
371 | } // end for i | |
372 | return; | |
373 | } | |
374 | //---------------------------------------------------------------------- | |
375 | void AliITSgeomMatrix::LtoGPosition(const Double_t l[3],Double_t g[3]){ | |
376 | //////////////////////////////////////////////////////////////////////// | |
377 | // Returns the global coordinates given the local coordinates [cm]. | |
378 | //////////////////////////////////////////////////////////////////////// | |
379 | Int_t i,j; | |
380 | ||
381 | for(i=0;i<3;i++){ | |
382 | g[i] = 0.0; | |
383 | for(j=0;j<3;j++) g[i] += fm[j][i]*l[j]; | |
384 | g[i] += ftran[i]; | |
385 | // g = R^t l + translation | |
386 | } // end for i | |
387 | return; | |
388 | } | |
389 | //---------------------------------------------------------------------- | |
390 | void AliITSgeomMatrix::GtoLMomentum(const Double_t g[3],Double_t l[3]){ | |
391 | //////////////////////////////////////////////////////////////////////// | |
392 | // Returns the local coordinates of the momentum given the global | |
393 | // coordinates of the momentum. It transforms just like GtoLPosition | |
394 | // except that the translation vector is zero. | |
395 | //////////////////////////////////////////////////////////////////////// | |
396 | Int_t i,j; | |
397 | ||
398 | for(i=0;i<3;i++){ | |
399 | l[i] = 0.0; | |
400 | for(j=0;j<3;j++) l[i] += fm[i][j]*g[j]; | |
401 | // g = R l | |
402 | } // end for i | |
403 | return; | |
404 | } | |
405 | //---------------------------------------------------------------------- | |
406 | void AliITSgeomMatrix::LtoGMomentum(const Double_t l[3],Double_t g[3]){ | |
407 | //////////////////////////////////////////////////////////////////////// | |
408 | // Returns the Global coordinates of the momentum given the local | |
409 | // coordinates of the momentum. It transforms just like LtoGPosition | |
410 | // except that the translation vector is zero. | |
411 | //////////////////////////////////////////////////////////////////////// | |
412 | Int_t i,j; | |
413 | ||
414 | for(i=0;i<3;i++){ | |
415 | g[i] = 0.0; | |
416 | for(j=0;j<3;j++) g[i] += fm[j][i]*l[j]; | |
417 | // g = R^t l | |
418 | } // end for i | |
419 | return; | |
420 | } | |
421 | //---------------------------------------------------------------------- | |
8d5bd3f9 | 422 | void AliITSgeomMatrix::GtoLPositionError( Double_t g[3][3], |
df5240ea | 423 | Double_t l[3][3]){ |
424 | //////////////////////////////////////////////////////////////////////// | |
425 | // Given an Uncertainty matrix in Global coordinates it is rotated so that | |
426 | // its representation in local coordinates can be returned. There is no | |
427 | // effect due to the translation vector or its uncertainty. | |
428 | //////////////////////////////////////////////////////////////////////// | |
429 | Int_t i,j,k,m; | |
430 | ||
431 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) | |
432 | l[i][m] = fm[j][i]*g[j][k]*fm[k][m]; | |
433 | // g = R^t l R | |
434 | return; | |
435 | } | |
436 | //---------------------------------------------------------------------- | |
8d5bd3f9 | 437 | void AliITSgeomMatrix::LtoGPositionError( Double_t l[3][3], |
df5240ea | 438 | Double_t g[3][3]){ |
439 | //////////////////////////////////////////////////////////////////////// | |
440 | // Given an Uncertainty matrix in Local coordinates it is rotated so that | |
441 | // its representation in global coordinates can be returned. There is no | |
442 | // effect due to the translation vector or its uncertainty. | |
443 | //////////////////////////////////////////////////////////////////////// | |
444 | Int_t i,j,k,m; | |
445 | ||
446 | for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++)for(m=0;m<3;m++) | |
447 | g[i][m] = fm[i][j]*l[j][k]*fm[m][k]; | |
448 | // g = R l R^t | |
449 | return; | |
450 | } | |
451 | //---------------------------------------------------------------------- | |
452 | void AliITSgeomMatrix::GtoLPositionTracking(const Double_t g0[3], | |
453 | Double_t l[3]){ | |
454 | //////////////////////////////////////////////////////////////////////// | |
455 | // A slightly different coordinate system is used when tracking. | |
456 | // This coordinate system is only relevant when the geometry represents | |
457 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
458 | // alone but X -> -Y and Y -> X such that X always points out of the | |
459 | // ITS Cylinder for every layer including layer 1 (where the detector | |
460 | // are mounted upside down). | |
461 | //Begin_Html | |
462 | /* | |
463 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
464 | */ | |
465 | //End_Html | |
466 | //////////////////////////////////////////////////////////////////////// | |
467 | Double_t l0[3]; | |
468 | ||
469 | this->GtoLPosition(g0,l0); | |
470 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down | |
471 | // with respect to the others. | |
472 | l[0] = +l0[1]; | |
473 | l[1] = -l0[0]; | |
474 | l[2] = +l0[2]; | |
475 | }else{ | |
476 | l[0] = -l0[1]; | |
477 | l[1] = +l0[0]; | |
478 | l[2] = +l0[2]; | |
479 | } // end if | |
480 | return; | |
481 | } | |
482 | //---------------------------------------------------------------------- | |
483 | void AliITSgeomMatrix::LtoGPositionTracking(const Double_t l[3], | |
484 | Double_t g[3]){ | |
485 | //////////////////////////////////////////////////////////////////////// | |
486 | // A slightly different coordinate system is used when tracking. | |
487 | // This coordinate system is only relevant when the geometry represents | |
488 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
489 | // alone but X -> -Y and Y -> X such that X always points out of the | |
490 | // ITS Cylinder for every layer including layer 1 (where the detector | |
491 | // are mounted upside down). | |
492 | //Begin_Html | |
493 | /* | |
494 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
495 | */ | |
496 | //End_Html | |
497 | //////////////////////////////////////////////////////////////////////// | |
498 | Double_t l0[3]; | |
499 | ||
500 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down | |
501 | // with respect to the others. | |
502 | l0[0] = -l[1]; | |
503 | l0[1] = +l[0]; | |
504 | l0[2] = +l[2]; | |
505 | }else{ | |
506 | l0[0] = +l[1]; | |
507 | l0[1] = -l[0]; | |
508 | l0[2] = +l[2]; | |
509 | } // end if | |
510 | this->LtoGPosition(l0,g); | |
511 | return; | |
512 | } | |
513 | //---------------------------------------------------------------------- | |
514 | void AliITSgeomMatrix::GtoLMomentumTracking(const Double_t g[3], | |
515 | Double_t l[3]){ | |
516 | //////////////////////////////////////////////////////////////////////// | |
517 | // A slightly different coordinate system is used when tracking. | |
518 | // This coordinate system is only relevant when the geometry represents | |
519 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
520 | // alone but X -> -Y and Y -> X such that X always points out of the | |
521 | // ITS Cylinder for every layer including layer 1 (where the detector | |
522 | // are mounted upside down). | |
523 | //Begin_Html | |
524 | /* | |
525 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
526 | */ | |
527 | //End_Html | |
528 | //////////////////////////////////////////////////////////////////////// | |
529 | Double_t l0[3]; | |
530 | ||
531 | this->GtoLMomentum(g,l0); | |
532 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down | |
533 | // with respect to the others. | |
534 | l[0] = +l0[1]; | |
535 | l[1] = -l0[0]; | |
536 | l[2] = +l0[2]; | |
537 | }else{ | |
538 | l[0] = -l0[1]; | |
539 | l[1] = +l0[0]; | |
540 | l[2] = +l0[2]; | |
541 | } // end if | |
542 | return; | |
543 | return; | |
544 | } | |
545 | //---------------------------------------------------------------------- | |
546 | void AliITSgeomMatrix::LtoGMomentumTracking(const Double_t l[3], | |
547 | Double_t g[3]){ | |
548 | //////////////////////////////////////////////////////////////////////// | |
549 | // A slightly different coordinate system is used when tracking. | |
550 | // This coordinate system is only relevant when the geometry represents | |
551 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
552 | // alone but X -> -Y and Y -> X such that X always points out of the | |
553 | // ITS Cylinder for every layer including layer 1 (where the detector | |
554 | // are mounted upside down). | |
555 | //Begin_Html | |
556 | /* | |
557 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
558 | */ | |
559 | //End_Html | |
560 | //////////////////////////////////////////////////////////////////////// | |
561 | Double_t l0[3]; | |
562 | ||
563 | if(fid[0]==1){ // for layer 1 the detector are flipped upside down | |
564 | // with respect to the others. | |
565 | l0[0] = -l[1]; | |
566 | l0[1] = +l[0]; | |
567 | l0[2] = +l[2]; | |
568 | }else{ | |
569 | l0[0] = +l[1]; | |
570 | l0[1] = -l[0]; | |
571 | l0[2] = +l[2]; | |
572 | } // end if | |
573 | this->LtoGMomentum(l0,g); | |
574 | return; | |
575 | } | |
576 | //---------------------------------------------------------------------- | |
8d5bd3f9 | 577 | void AliITSgeomMatrix::GtoLPositionErrorTracking( Double_t g[3][3], |
df5240ea | 578 | Double_t l[3][3]){ |
579 | //////////////////////////////////////////////////////////////////////// | |
580 | // A slightly different coordinate system is used when tracking. | |
581 | // This coordinate system is only relevant when the geometry represents | |
582 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
583 | // alone but X -> -Y and Y -> X such that X always points out of the | |
584 | // ITS Cylinder for every layer including layer 1 (where the detector | |
585 | // are mounted upside down). | |
586 | //Begin_Html | |
587 | /* | |
588 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
589 | */ | |
590 | //End_Html | |
591 | //////////////////////////////////////////////////////////////////////// | |
592 | Int_t i,j,k,m; | |
85f1e34a | 593 | Double_t rt[3][3]; |
594 | Double_t a0[3][3] = {{0.,+1.,0.},{-1.,0.,0.},{0.,0.,+1.}}; | |
595 | Double_t a1[3][3] = {{0.,-1.,0.},{+1.,0.,0.},{0.,0.,+1.}}; | |
df5240ea | 596 | |
597 | if(fid[0]==1) for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) | |
85f1e34a | 598 | rt[i][k] = a0[i][j]*fm[j][k]; |
df5240ea | 599 | else for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) |
85f1e34a | 600 | rt[i][k] = a1[i][j]*fm[j][k]; |
df5240ea | 601 | 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 | 602 | l[i][m] = rt[j][i]*g[j][k]*rt[k][m]; |
df5240ea | 603 | // g = R^t l R |
604 | return; | |
605 | } | |
606 | //---------------------------------------------------------------------- | |
8d5bd3f9 | 607 | void AliITSgeomMatrix::LtoGPositionErrorTracking( Double_t l[3][3], |
df5240ea | 608 | Double_t g[3][3]){ |
609 | //////////////////////////////////////////////////////////////////////// | |
610 | // A slightly different coordinate system is used when tracking. | |
611 | // This coordinate system is only relevant when the geometry represents | |
612 | // the cylindrical ALICE ITS geometry. For tracking the Z axis is left | |
613 | // alone but X -> -Y and Y -> X such that X always points out of the | |
614 | // ITS Cylinder for every layer including layer 1 (where the detector | |
615 | // are mounted upside down). | |
616 | //Begin_Html | |
617 | /* | |
618 | <img src="picts/ITS/AliITSgeomMatrix_T1.gif"> | |
619 | */ | |
620 | //End_Html | |
621 | //////////////////////////////////////////////////////////////////////// | |
622 | Int_t i,j,k,m; | |
85f1e34a | 623 | Double_t rt[3][3]; |
624 | Double_t a0[3][3] = {{0.,+1.,0.},{-1.,0.,0.},{0.,0.,+1.}}; | |
625 | Double_t a1[3][3] = {{0.,-1.,0.},{+1.,0.,0.},{0.,0.,+1.}}; | |
df5240ea | 626 | |
627 | if(fid[0]==1) for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) | |
85f1e34a | 628 | rt[i][k] = a0[i][j]*fm[j][k]; |
df5240ea | 629 | else for(i=0;i<3;i++)for(j=0;j<3;j++)for(k=0;k<3;k++) |
85f1e34a | 630 | rt[i][k] = a1[i][j]*fm[j][k]; |
df5240ea | 631 | 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 | 632 | g[i][m] = rt[i][j]*l[j][k]*rt[m][k]; |
df5240ea | 633 | // g = R l R^t |
634 | return; | |
635 | } | |
636 | //---------------------------------------------------------------------- | |
637 | void AliITSgeomMatrix::PrintTitles(ostream *os){ | |
638 | //////////////////////////////////////////////////////////////////////// | |
639 | // Standard output format for this class but it includes variable | |
640 | // names and formatting that makes it easer to read. | |
641 | //////////////////////////////////////////////////////////////////////// | |
642 | Int_t i,j; | |
643 | ||
644 | *os << "fDetectorIndex=" << fDetectorIndex << " fid[3]={"; | |
645 | for(i=0;i<3;i++) *os << fid[i] << " "; | |
646 | *os << "} frot[3]={"; | |
647 | for(i=0;i<3;i++) *os << frot[i] << " "; | |
648 | *os << "} ftran[3]={"; | |
649 | for(i=0;i<3;i++) *os << ftran[i] << " "; | |
650 | *os << "} fm[3][3]={"; | |
651 | for(i=0;i<3;i++){for(j=0;j<3;j++){ *os << fm[i][j] << " ";} *os <<"}{";} | |
652 | *os << "}" << endl; | |
653 | return; | |
654 | } | |
655 | //---------------------------------------------------------------------- | |
8253cd9a | 656 | void AliITSgeomMatrix::PrintComment(ostream *os){ |
657 | //////////////////////////////////////////////////////////////////////// | |
658 | // output format used by Print.. | |
659 | //////////////////////////////////////////////////////////////////////// | |
660 | *os << "fDetectorIndex fid[0] fid[1] fid[2] ftran[0] ftran[1] ftran[2] "; | |
661 | *os << "fm[0][0] fm[0][1] fm[0][2] fm[1][0] fm[1][1] fm[1][2] "; | |
662 | *os << "fm[2][0] fm[2][1] fm[2][2] "; | |
663 | return; | |
664 | } | |
665 | //---------------------------------------------------------------------- | |
666 | void AliITSgeomMatrix::Print(ostream *os){ | |
df5240ea | 667 | //////////////////////////////////////////////////////////////////////// |
668 | // Standard output format for this class. | |
669 | //////////////////////////////////////////////////////////////////////// | |
670 | Int_t i,j; | |
31b8cd63 | 671 | Int_t fmt; |
df5240ea | 672 | |
8253cd9a | 673 | fmt = os->setf(ios::scientific); // set scientific floating point output |
df5240ea | 674 | *os << fDetectorIndex << " "; |
675 | for(i=0;i<3;i++) *os << fid[i] << " "; | |
8253cd9a | 676 | // for(i=0;i<3;i++) *os << frot[i] << " "; // Redundant with fm[][]. |
677 | for(i=0;i<3;i++) *os << setprecision(16) << ftran[i] << " "; | |
678 | for(i=0;i<3;i++)for(j=0;j<3;j++) *os << setprecision(16) << | |
679 | fm[i][j] << " "; | |
df5240ea | 680 | *os << endl; |
8253cd9a | 681 | os->flags(fmt); // reset back to old formating. |
df5240ea | 682 | return; |
683 | } | |
684 | //---------------------------------------------------------------------- | |
8253cd9a | 685 | void AliITSgeomMatrix::Read(istream *is){ |
df5240ea | 686 | //////////////////////////////////////////////////////////////////////// |
687 | // Standard input format for this class. | |
688 | //////////////////////////////////////////////////////////////////////// | |
689 | Int_t i,j; | |
690 | ||
691 | *is >> fDetectorIndex; | |
692 | for(i=0;i<3;i++) *is >> fid[i]; | |
8253cd9a | 693 | // for(i=0;i<3;i++) *is >> frot[i]; // Redundant with fm[][]. |
df5240ea | 694 | for(i=0;i<3;i++) *is >> ftran[i]; |
695 | for(i=0;i<3;i++)for(j=0;j<3;j++) *is >> fm[i][j]; | |
8253cd9a | 696 | AngleFromMatrix(); // compute angles frot[]. |
d8cc8493 | 697 | fCylR = TMath::Sqrt(ftran[0]*ftran[0]+ftran[1]*ftran[1]); |
698 | fCylPhi = TMath::ATan2(ftran[1],ftran[0]); | |
699 | if(fCylPhi<0.0) fCylPhi += TMath::Pi(); | |
df5240ea | 700 | return; |
701 | } | |
d8cc8493 | 702 | //______________________________________________________________________ |
703 | void AliITSgeomMatrix::Streamer(TBuffer &R__b){ | |
704 | // Stream an object of class AliITSgeomMatrix. | |
705 | ||
706 | if (R__b.IsReading()) { | |
707 | AliITSgeomMatrix::Class()->ReadBuffer(R__b, this); | |
708 | fCylR = TMath::Sqrt(ftran[0]*ftran[0]+ftran[1]*ftran[1]); | |
709 | fCylPhi = TMath::ATan2(ftran[1],ftran[0]); | |
710 | this->AngleFromMatrix(); | |
711 | if(fCylPhi<0.0) fCylPhi += TMath::Pi(); | |
712 | } else { | |
713 | AliITSgeomMatrix::Class()->WriteBuffer(R__b, this); | |
714 | } | |
715 | } | |
df5240ea | 716 | //---------------------------------------------------------------------- |
717 | ostream &operator<<(ostream &os,AliITSgeomMatrix &p){ | |
718 | //////////////////////////////////////////////////////////////////////// | |
719 | // Standard output streaming function. | |
720 | //////////////////////////////////////////////////////////////////////// | |
721 | ||
8253cd9a | 722 | p.Print(&os); |
df5240ea | 723 | return os; |
724 | } | |
725 | //---------------------------------------------------------------------- | |
726 | istream &operator>>(istream &is,AliITSgeomMatrix &r){ | |
727 | //////////////////////////////////////////////////////////////////////// | |
728 | // Standard input streaming function. | |
729 | //////////////////////////////////////////////////////////////////////// | |
730 | ||
8253cd9a | 731 | r.Read(&is); |
df5240ea | 732 | return is; |
733 | } | |
8253cd9a | 734 | //---------------------------------------------------------------------- |