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