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testRotation.cc
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1// -*- C++ -*-
2// $Id: testRotation.cc,v 1.3 2003/08/13 20:00:14 garren Exp $
3// ---------------------------------------------------------------------------
4//
5// This file is a part of the CLHEP - a Class Library for High Energy Physics.
6//
7// This is a test for HepRotation class.
8//
9#include "CLHEP/Units/GlobalSystemOfUnits.h" // to see shadowing problems
10#include "CLHEP/Units/GlobalPhysicalConstants.h"
11#include "CLHEP/Vector/Rotation.h"
12#include "CLHEP/Vector/ThreeVector.h"
13#include <assert.h>
14#include <cmath>
15#include <stdlib.h>
16
17using namespace CLHEP;
18
21
22#define DEL 10.e-16
23
24int main() {
25 int i,k;
26 double angA=CLHEP::pi/3, angB=CLHEP::pi/4, angC=CLHEP::pi/6;
27 double cosA=std::cos(angA), sinA=std::sin(angA);
28 double cosB=std::cos(angB), sinB=std::sin(angB);
29 double cosC=std::cos(angC), sinC=std::sin(angC);
30
31 Rotation R; // default constructor
32 assert ( R.xx() == 1 );
33 assert ( R.xy() == 0 );
34 assert ( R.xz() == 0 );
35 assert ( R.yx() == 0 );
36 assert ( R.yy() == 1 );
37 assert ( R.yz() == 0 );
38 assert ( R.zx() == 0 );
39 assert ( R.zy() == 0 );
40 assert ( R.zz() == 1 );
41
42 assert( R.isIdentity() ); // isIdentity()
43
44 R = Rotation(); // rotateX()
45 R.rotateX(angA);
46 assert ( R.xx() == 1 );
47 assert ( R.xy() == 0 );
48 assert ( R.xz() == 0 );
49 assert ( R.yx() == 0 );
50 assert ( R.yy() == cosA );
51 assert ( R.yz() ==-sinA );
52 assert ( R.zx() == 0 );
53 assert ( R.zy() == sinA );
54 assert ( R.zz() == cosA );
55
56 R = Rotation(); // rotateY()
57 R.rotateY(angB);
58 assert ( R.xx() == cosB );
59 assert ( R.xy() == 0 );
60 assert ( R.xz() == sinB );
61 assert ( R.yx() == 0 );
62 assert ( R.yy() == 1 );
63 assert ( R.yz() == 0 );
64 assert ( R.zx() ==-sinB );
65 assert ( R.zy() == 0 );
66 assert ( R.zz() == cosB );
67
68 R = Rotation(); // rotateZ()
69 R.rotateZ(angC);
70 assert ( R.xx() == cosC );
71 assert ( R.xy() ==-sinC );
72 assert ( R.xz() == 0 );
73 assert ( R.yx() == sinC );
74 assert ( R.yy() == cosC );
75 assert ( R.yz() == 0 );
76 assert ( R.zx() == 0 );
77 assert ( R.zy() == 0 );
78 assert ( R.zz() == 1 );
79
80 R = Rotation(); // copy constructor
81 R.rotateZ(angC);
82 R.rotateY(angB);
83 R.rotateZ(angA);
84 Rotation RR(R);
85
86 assert ( std::abs(RR.xx() - cosA*cosB*cosC + sinA*sinC) < DEL );
87 assert ( std::abs(RR.xy() + cosA*cosB*sinC + sinA*cosC) < DEL );
88 assert ( std::abs(RR.xz() - cosA*sinB) < DEL );
89 assert ( std::abs(RR.yx() - sinA*cosB*cosC - cosA*sinC) < DEL );
90 assert ( std::abs(RR.yy() + sinA*cosB*sinC - cosA*cosC) < DEL );
91 assert ( std::abs(RR.yz() - sinA*sinB) < DEL );
92 assert ( std::abs(RR.zx() + sinB*cosC) < DEL );
93 assert ( std::abs(RR.zy() - sinB*sinC) < DEL );
94 assert ( std::abs(RR.zz() - cosB) < DEL );
95
96 RR = Rotation(); // operator=, operator!=, operator==
97 assert ( RR != R );
98 RR = R;
99 assert ( RR == R );
100
101 assert ( R(0,0) == R.xx() ); // operator(i,j), operator[i][j]
102 assert ( R(0,1) == R.xy() );
103 assert ( R(0,2) == R.xz() );
104 assert ( R(1,0) == R.yx() );
105 assert ( R(1,1) == R.yy() );
106 assert ( R(1,2) == R.yz() );
107 assert ( R(2,0) == R.zx() );
108 assert ( R(2,1) == R.zy() );
109 assert ( R(2,2) == R.zz() );
110
111 for(i=0; i<3; i++) {
112 for(k=0; k<3; k++) {
113 assert ( RR(i,k) == R[i][k] );
114 }
115 }
116
117 Rotation A, B ,C; // operator*=
118 A.rotateZ(angA);
119 B.rotateY(angB);
120 C.rotateZ(angC);
121 R = A; R *= B; R *= C;
122
123 Vector V(1,2,3); // operator* (Vector)
124 V = R * V;
125 assert ( std::abs(V.x()-R.xx()-2.*R.xy()-3.*R.xz()) < DEL );
126 assert ( std::abs(V.y()-R.yx()-2.*R.yy()-3.*R.yz()) < DEL );
127 assert ( std::abs(V.z()-R.zx()-2.*R.zy()-3.*R.zz()) < DEL );
128
129 R = A * B * C; // operator*(Matrix)
130 assert ( std::abs(RR.xx() - R.xx()) < DEL );
131 assert ( std::abs(RR.xy() - R.xy()) < DEL );
132 assert ( std::abs(RR.xz() - R.xz()) < DEL );
133 assert ( std::abs(RR.yx() - R.yx()) < DEL );
134 assert ( std::abs(RR.yy() - R.yy()) < DEL );
135 assert ( std::abs(RR.yz() - R.yz()) < DEL );
136 assert ( std::abs(RR.zx() - R.zx()) < DEL );
137 assert ( std::abs(RR.zy() - R.zy()) < DEL );
138 assert ( std::abs(RR.zz() - R.zz()) < DEL );
139
140 R = C; // transform()
141 R.transform(B);
142 R.transform(A);
143 assert ( std::abs(RR.xx() - R.xx()) < DEL );
144 assert ( std::abs(RR.xy() - R.xy()) < DEL );
145 assert ( std::abs(RR.xz() - R.xz()) < DEL );
146 assert ( std::abs(RR.yx() - R.yx()) < DEL );
147 assert ( std::abs(RR.yy() - R.yy()) < DEL );
148 assert ( std::abs(RR.yz() - R.yz()) < DEL );
149 assert ( std::abs(RR.zx() - R.zx()) < DEL );
150 assert ( std::abs(RR.zy() - R.zy()) < DEL );
151 assert ( std::abs(RR.zz() - R.zz()) < DEL );
152
153 R = RR.inverse(); // inverse()
154 for(i=0; i<3; i++) {
155 for(k=0; k<3; k++) {
156 assert ( RR(i,k) == R[k][i] );
157 }
158 }
159
160 R.invert(); // invert()
161 assert ( RR == R );
162
163 R = Rotation(); // rotateAxes()
164 R.rotateAxes( Vector(RR.xx(), RR.yx(), RR.zx()),
165 Vector(RR.xy(), RR.yy(), RR.zy()),
166 Vector(RR.xz(), RR.yz(), RR.zz()) );
167 assert ( RR == R );
168
169 double ang=CLHEP::twopi/9.; // rotate()
170 R = Rotation();
171 R.rotate(ang, V);
172
173 RR = Rotation();
174 RR.rotateZ(-(V.phi()));
175 RR.rotateY(-(V.theta()));
176 RR.rotateZ(ang);
177 RR.rotateY(V.theta());
178 RR.rotateZ(V.phi());
179
180 assert ( std::abs(RR.xx() - R.xx()) < DEL );
181 assert ( std::abs(RR.xy() - R.xy()) < DEL );
182 assert ( std::abs(RR.xz() - R.xz()) < DEL );
183 assert ( std::abs(RR.yx() - R.yx()) < DEL );
184 assert ( std::abs(RR.yy() - R.yy()) < DEL );
185 assert ( std::abs(RR.yz() - R.yz()) < DEL );
186 assert ( std::abs(RR.zx() - R.zx()) < DEL );
187 assert ( std::abs(RR.zy() - R.zy()) < DEL );
188 assert ( std::abs(RR.zz() - R.zz()) < DEL );
189
190 Vector Vu = V.unit(); // getAngleAxis
191 R.getAngleAxis(ang, V);
192 assert ( std::abs(ang - CLHEP::twopi/9.) < DEL );
193 assert ( std::abs(V.x() - Vu.x()) < DEL );
194 assert ( std::abs(V.y() - Vu.y()) < DEL );
195 assert ( std::abs(V.z() - Vu.z()) < DEL );
196
197 assert ( std::abs(RR.phiX()-std::atan2(RR.yx(),RR.xx())) < DEL ); // phiX()
198 assert ( std::abs(RR.phiY()-std::atan2(RR.yy(),RR.xy())) < DEL ); // phiY()
199 assert ( std::abs(RR.phiZ()-std::atan2(RR.yz(),RR.xz())) < DEL ); // phiZ()
200
201 assert ( std::abs(RR.thetaX()-std::acos(RR.zx())) < DEL ); // thetaX()
202 assert ( std::abs(RR.thetaY()-std::acos(RR.zy())) < DEL ); // thetaY()
203 assert ( std::abs(RR.thetaZ()-std::acos(RR.zz())) < DEL ); // thetaZ()
204
205 return 0;
206}
BasicVector3D< T > unit() const
Transform3D inverse() const
Definition: Transform3D.cc:146
Definition: excDblThrow.cc:8
HepRotation Rotation
Definition: testRotation.cc:19
#define DEL
Definition: testRotation.cc:22
int main()
Definition: testRotation.cc:24
Hep3Vector Vector
Definition: testRotation.cc:20