|
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
|
/** \file FrameToFrameDerivative.cc
*
* $Date: 2007/03/12 21:28:48 $
* $Revision: 1.5 $
*/
#include "Alignment/CommonAlignmentParametrization/interface/FrameToFrameDerivative.h"
#include "Alignment/CommonAlignment/interface/Alignable.h"
// already in header: #include
// "DataFormats/Math/interface/AlgebraicROOTObjects.h"
#include "DataFormats/CLHEP/interface/Migration.h"
//__________________________________________________________________________________________________
AlgebraicMatrix FrameToFrameDerivative::frameToFrameDerivative(const Alignable *object,
const Alignable *composedObject) const {
return getDerivative(object->globalRotation(),
composedObject->globalRotation(),
composedObject->globalPosition() - object->globalPosition());
}
//__________________________________________________________________________________________________
AlgebraicMatrix66 FrameToFrameDerivative::getDerivative(const align::RotationType &objectRot,
const align::RotationType &composeRot,
const align::GlobalPoint &objectPos,
const align::GlobalPoint &composePos) const {
return asSMatrix<6, 6>(this->getDerivative(objectRot, composeRot, composePos - objectPos));
}
//__________________________________________________________________________________________________
AlgebraicMatrix FrameToFrameDerivative::getDerivative(const align::RotationType &objectRot,
const align::RotationType &composeRot,
const align::GlobalVector &posVec) const {
AlgebraicMatrix rotDet = transform(objectRot);
AlgebraicMatrix rotCompO = transform(composeRot);
AlgebraicVector diffVec(3);
diffVec(1) = posVec.x();
diffVec(2) = posVec.y();
diffVec(3) = posVec.z();
AlgebraicMatrix derivative(6, 6);
AlgebraicMatrix derivAA(3, 3);
AlgebraicMatrix derivAB(3, 3);
AlgebraicMatrix derivBB(3, 3);
derivAA = derivativePosPos(rotDet, rotCompO);
derivAB = derivativePosRot(rotDet, rotCompO, diffVec);
derivBB = derivativeRotRot(rotDet, rotCompO);
derivative[0][0] = derivAA[0][0];
derivative[0][1] = derivAA[0][1];
derivative[0][2] = derivAA[0][2];
derivative[0][3] = derivAB[0][0];
derivative[0][4] = derivAB[0][1];
derivative[0][5] = derivAB[0][2];
derivative[1][0] = derivAA[1][0];
derivative[1][1] = derivAA[1][1];
derivative[1][2] = derivAA[1][2];
derivative[1][3] = derivAB[1][0];
derivative[1][4] = derivAB[1][1];
derivative[1][5] = derivAB[1][2];
derivative[2][0] = derivAA[2][0];
derivative[2][1] = derivAA[2][1];
derivative[2][2] = derivAA[2][2];
derivative[2][3] = derivAB[2][0];
derivative[2][4] = derivAB[2][1];
derivative[2][5] = derivAB[2][2];
derivative[3][0] = 0;
derivative[3][1] = 0;
derivative[3][2] = 0;
derivative[3][3] = derivBB[0][0];
derivative[3][4] = derivBB[0][1];
derivative[3][5] = derivBB[0][2];
derivative[4][0] = 0;
derivative[4][1] = 0;
derivative[4][2] = 0;
derivative[4][3] = derivBB[1][0];
derivative[4][4] = derivBB[1][1];
derivative[4][5] = derivBB[1][2];
derivative[5][0] = 0;
derivative[5][1] = 0;
derivative[5][2] = 0;
derivative[5][3] = derivBB[2][0];
derivative[5][4] = derivBB[2][1];
derivative[5][5] = derivBB[2][2];
return derivative;
}
//__________________________________________________________________________________________________
AlgebraicMatrix FrameToFrameDerivative::derivativePosPos(const AlgebraicMatrix &RotDet,
const AlgebraicMatrix &RotRot) const {
return RotDet * RotRot.T();
}
//__________________________________________________________________________________________________
AlgebraicMatrix FrameToFrameDerivative::derivativePosRot(const AlgebraicMatrix &RotDet,
const AlgebraicMatrix &RotRot,
const AlgebraicVector &S) const {
AlgebraicVector dEulerA(3);
AlgebraicVector dEulerB(3);
AlgebraicVector dEulerC(3);
AlgebraicMatrix RotDa(3, 3);
AlgebraicMatrix RotDb(3, 3);
AlgebraicMatrix RotDc(3, 3);
RotDa[1][2] = 1;
RotDa[2][1] = -1;
RotDb[0][2] = -1;
RotDb[2][0] = 1; // New beta sign
RotDc[0][1] = 1;
RotDc[1][0] = -1;
dEulerA = RotDet * (RotRot.T() * RotDa * RotRot * S);
dEulerB = RotDet * (RotRot.T() * RotDb * RotRot * S);
dEulerC = RotDet * (RotRot.T() * RotDc * RotRot * S);
AlgebraicMatrix eulerDeriv(3, 3);
eulerDeriv[0][0] = dEulerA[0];
eulerDeriv[1][0] = dEulerA[1];
eulerDeriv[2][0] = dEulerA[2];
eulerDeriv[0][1] = dEulerB[0];
eulerDeriv[1][1] = dEulerB[1];
eulerDeriv[2][1] = dEulerB[2];
eulerDeriv[0][2] = dEulerC[0];
eulerDeriv[1][2] = dEulerC[1];
eulerDeriv[2][2] = dEulerC[2];
return eulerDeriv;
}
//__________________________________________________________________________________________________
AlgebraicMatrix FrameToFrameDerivative::derivativeRotRot(const AlgebraicMatrix &RotDet,
const AlgebraicMatrix &RotRot) const {
AlgebraicVector dEulerA(3);
AlgebraicVector dEulerB(3);
AlgebraicVector dEulerC(3);
AlgebraicMatrix RotDa(3, 3);
AlgebraicMatrix RotDb(3, 3);
AlgebraicMatrix RotDc(3, 3);
RotDa[1][2] = 1;
RotDa[2][1] = -1;
RotDb[0][2] = -1;
RotDb[2][0] = 1; // New beta sign
RotDc[0][1] = 1;
RotDc[1][0] = -1;
dEulerA = linearEulerAngles(RotDet * RotRot.T() * RotDa * RotRot * RotDet.T());
dEulerB = linearEulerAngles(RotDet * RotRot.T() * RotDb * RotRot * RotDet.T());
dEulerC = linearEulerAngles(RotDet * RotRot.T() * RotDc * RotRot * RotDet.T());
AlgebraicMatrix eulerDeriv(3, 3);
eulerDeriv[0][0] = dEulerA[0];
eulerDeriv[1][0] = dEulerA[1];
eulerDeriv[2][0] = dEulerA[2];
eulerDeriv[0][1] = dEulerB[0];
eulerDeriv[1][1] = dEulerB[1];
eulerDeriv[2][1] = dEulerB[2];
eulerDeriv[0][2] = dEulerC[0];
eulerDeriv[1][2] = dEulerC[1];
eulerDeriv[2][2] = dEulerC[2];
return eulerDeriv;
}
//__________________________________________________________________________________________________
AlgebraicVector FrameToFrameDerivative::linearEulerAngles(const AlgebraicMatrix &rotDelta) const {
AlgebraicMatrix eulerAB(3, 3);
AlgebraicVector aB(3);
eulerAB[0][1] = 1;
eulerAB[1][0] = -1; // New beta sign
aB[2] = 1;
AlgebraicMatrix eulerC(3, 3);
AlgebraicVector C(3);
eulerC[2][0] = 1;
C[1] = 1;
AlgebraicVector eulerAngles(3);
eulerAngles = eulerAB * rotDelta * aB + eulerC * rotDelta * C;
return eulerAngles;
}
|