Belle II Software light-2406-ragdoll
RotationTools.h
1/**************************************************************************
2 * basf2 (Belle II Analysis Software Framework) *
3 * Author: The Belle II Collaboration *
4 * *
5 * See git log for contributors and copyright holders. *
6 * This file is licensed under LGPL-3.0, see LICENSE.md. *
7 **************************************************************************/
8
9#pragma once
10
11#include <framework/geometry/B2Vector3.h>
12
13/* External headers. */
14#include <TMatrixDSym.h>
15#include <TMatrixD.h>
16#include <TVectorD.h>
17#include <TRotation.h>
18#include <Math/Vector3D.h>
19
20namespace Belle2 {
26 namespace RotationTools {
27
32 inline TMatrixD toMatrix(TRotation r)
33 {
34 TMatrixD rM(3, 3);
35 for (int i = 0; i < 3; ++i)
36 for (int j = 0; j < 3; ++j)
37 rM(i, j) = r(i, j);
38 return rM;
39 }
40
41
47 inline TMatrixD getRotationMatrixZtoZp(ROOT::Math::XYZVector zPrime)
48 {
49 ROOT::Math::XYZVector zAxis(0, 0, 1);
50 zPrime = zPrime.Unit();
51 ROOT::Math::XYZVector rotAxis = zAxis.Cross(zPrime);
52 double angle = asin(sqrt(rotAxis.Mag2()));
53
54 TRotation r;
55 r.Rotate(angle, TVector3(rotAxis.x(), rotAxis.y(), rotAxis.z()));
56 return toMatrix(r);
57 }
58
59
66 inline TMatrixD getRotationMatrixXY(double angleX, double angleY)
67 {
68 TRotation r;
69 r.RotateX(angleX);
70 r.RotateY(angleY);
71 return toMatrix(r);
72 }
73
74
75
82 inline TMatrixD rotateTensor(const B2Vector3D& vTo, const TMatrixD& orgMat)
83 {
84 TMatrixD r = getRotationMatrixZtoZp(vTo);
85 TMatrixD rT = r; rT.T();
86 return r * orgMat * rT;
87 }
88
95 inline TMatrixD rotateTensorInv(const ROOT::Math::XYZVector& vTo, const TMatrixD& orgMat)
96 {
97 TMatrixD r = getRotationMatrixZtoZp(vTo);
98 TMatrixD rT = r; rT.T();
99 return rT * orgMat * r;
100 }
101
102
109 inline TMatrixDSym toSymMatrix(const TMatrixD& m)
110 {
111 TMatrixDSym mS(m.GetNrows());
112 for (int i = 0; i < m.GetNrows(); ++i)
113 for (int j = 0; j < m.GetNcols(); ++j) {
114 mS(i, j) = (m(i, j) + m(j, i)) / 2;
115 }
116 return mS;
117 }
118
119
124 inline TVectorD toVec(B2Vector3D v)
125 {
126 return TVectorD(0, 2, v.X(), v.Y(), v.Z(), "END");
127 }
128
133 B2Vector3D getUnitOrthogonal(B2Vector3D v)
134 {
135 return B2Vector3D(v.Z(), 0, -v.X()).Unit();
136 }
137
138 }
139
141}
B2Vector3< DataType > Unit() const
Unit vector parallel to this.
Definition: B2Vector3.h:269
B2Vector3< double > B2Vector3D
typedef for common usage with double
Definition: B2Vector3.h:516
Abstract base class for different kinds of events.
Definition: ClusterUtils.h:24