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#ifndef Alignment_CommonAlignmentParametrization_FrameToFrameDerivative_h
#define Alignment_CommonAlignmentParametrization_FrameToFrameDerivative_h
#include "CondFormats/Alignment/interface/Definitions.h"
#include "DataFormats/Math/interface/AlgebraicROOTObjects.h"
/// \class FrameToFrameDerivative
///
/// Class for calculating the jacobian d_object/d_composedObject
/// for the rigid body parametrisation of both, i.e. the derivatives
/// expressing the influence of u, v, w, alpha, beta, gamma of the
/// composedObject on u, v, w, alpha, beta, gamma of its component 'object'.
///
/// $Date: 2007/10/08 15:56:00 $
/// $Revision: 1.6 $
/// (last update by $Author: cklae $)
class Alignable;
class FrameToFrameDerivative {
public:
/// Return the derivative DeltaFrame(object)/DeltaFrame(composedObject),
/// i.e. a 6x6 matrix:
///
/// / du/du_c du/dv_c du/dw_c du/da_c du/db_c du/dg_c |
/// | dv/du_c dv/dv_c dv/dw_c dv/da_c dv/db_c dv/dg_c |
/// | dw/du_c dw/dv_c dw/dw_c dw/da_c dw/db_c dw/dg_c |
/// | da/du_c da/dv_c da/dw_c da/da_c da/db_c da/dg_c |
/// | db/du_c db/dv_c db/dw_c db/da_c db/db_c db/dg_c |
/// \ dg/du_c dg/dv_c dg/dw_c dg/da_c dg/db_c dg/dg_c /
///
/// where u, v, w, a, b, g are shifts and rotations of the object
/// and u_c, v_c, w_c, a_c, b_c, g_c those of the composed object.
AlgebraicMatrix frameToFrameDerivative(const Alignable *object, const Alignable *composedObject) const;
/// Calculates derivatives DeltaFrame(object)/DeltaFrame(composedobject)
/// using their positions and orientations, see method
/// frameToFrameDerivative(..) for definition. As a new method it gets a new
/// interface avoiding CLHEP that should anyway be replaced by SMatrix at some
/// point...
AlgebraicMatrix66 getDerivative(const align::RotationType &objectRot,
const align::RotationType &composeRot,
const align::GlobalPoint &objectPos,
const align::GlobalPoint &composePos) const;
private:
/// Helper to transform from RotationType to AlgebraicMatrix
inline static AlgebraicMatrix transform(const align::RotationType &);
/// Calculates derivatives using the orientation Matrixes and the origin
/// difference vector
AlgebraicMatrix getDerivative(const align::RotationType &objectRot,
const align::RotationType &composeRot,
const align::GlobalVector &posVec) const;
/// Gets linear approximated euler Angles
AlgebraicVector linearEulerAngles(const AlgebraicMatrix &rotDelta) const;
/// Calculates the derivative DPos/DPos
AlgebraicMatrix derivativePosPos(const AlgebraicMatrix &RotDet, const AlgebraicMatrix &RotRot) const;
/// Calculates the derivative DPos/DRot
AlgebraicMatrix derivativePosRot(const AlgebraicMatrix &RotDet,
const AlgebraicMatrix &RotRot,
const AlgebraicVector &S) const;
/// Calculates the derivative DRot/DRot
AlgebraicMatrix derivativeRotRot(const AlgebraicMatrix &RotDet, const AlgebraicMatrix &RotRot) const;
};
AlgebraicMatrix FrameToFrameDerivative::transform(const align::RotationType &rot) {
AlgebraicMatrix R(3, 3);
R(1, 1) = rot.xx();
R(1, 2) = rot.xy();
R(1, 3) = rot.xz();
R(2, 1) = rot.yx();
R(2, 2) = rot.yy();
R(2, 3) = rot.yz();
R(3, 1) = rot.zx();
R(3, 2) = rot.zy();
R(3, 3) = rot.zz();
return R;
}
#endif
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