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/****************************************************************************
*
* This is a part of CMS-TOTEM PPS offline software.
* Authors:
* Jan Kašpar (jan.kaspar@gmail.com)
* Helena Malbouisson
* Clemencia Mora Herrera
*
****************************************************************************/
#ifndef CondFormats_PPSObjects_CTPPSRPAlignmentCorrectionData
#define CondFormats_PPSObjects_CTPPSRPAlignmentCorrectionData
#include "CondFormats/Serialization/interface/Serializable.h"
#include "DataFormats/Math/interface/Vector3D.h"
#include <Math/Rotation3D.h>
#include <Math/RotationZYX.h>
#include <vector>
/**
*\brief Alignment correction for an element of the CT-PPS detector.
* Within the geometry description, every sensor (more generally every element) is given
* its <b>translation</b> and <b>rotation</b>. These two quantities shall be understood in
* <b>local-to-global</b> coordinate transform. That is, if r_l is a point in local
* coordinate system and x_g in global, then it holds
\verbatim
x_g = rotation * x_l + translation
\endverbatim
*
* This class presents an alignment correction to the translation and rotation. It follows
* these formulae:
\verbatim
translation_final = translation_correction + translation_original
rotation_final = rotation_correction * rotation_original
\endverbatim
*
* Alignment corrections can be added, following this prescription:
\verbatim
translation_final = translation_added + translation_original
rotation_final = rotation_added * rotation_original
\endverbatim
*
* NB: As follows from the above definitions, all translations are in the global space. This
* means that the rotations do not act on them.
*
* Besides the values of rotations and translations, this class contains also uncertainties
* for these paramaters (the _unc data memebers).
*
* The rotation is parameterized by 3 rotation parameters, the matrix is obtained by calling
* ROOT::Math::RotationZYX(r_z, r_y, r_x), which corresponds to:
\verbatim
| 1 0 0 | | cos r_y 0 +sin r_y | | cos r_z -sin r_z 0 |
R = | 0 cos r_x -sin r_x | * | 0 1 0 | * | sin r_z cos r_z 0 |
| 0 sin r_x cos r_x | |-sin r_y 0 cos r_y | | 0 0 1 |
\endverbatim
**/
class CTPPSRPAlignmentCorrectionData {
protected:
/// shift in mm; in global XYZ frame, which is not affected by (alignment) rotations!
/// "_unc" denotes the shift uncertainties
double sh_x, sh_y, sh_z;
double sh_x_unc, sh_y_unc, sh_z_unc;
/// the three rotation angles
/// in rad
double rot_x, rot_y, rot_z;
double rot_x_unc, rot_y_unc, rot_z_unc;
public:
CTPPSRPAlignmentCorrectionData()
: sh_x(0.),
sh_y(0.),
sh_z(0.),
sh_x_unc(0.),
sh_y_unc(0.),
sh_z_unc(0.),
rot_x(0.),
rot_y(0.),
rot_z(0.),
rot_x_unc(0.),
rot_y_unc(0.),
rot_z_unc(0.) {}
/// full constructor, shifts in mm, rotations in rad
CTPPSRPAlignmentCorrectionData(double _sh_x,
double _sh_x_u,
double _sh_y,
double _sh_y_u,
double _sh_z,
double _sh_z_u,
double _rot_x,
double _rot_x_u,
double _rot_y,
double _rot_y_u,
double _rot_z,
double _rot_z_u);
/// no uncertainty constructor, shifts in mm, rotation in rad
CTPPSRPAlignmentCorrectionData(double _sh_x, double _sh_y, double _sh_z, double _rot_x, double _rot_y, double rot_z);
inline double getShX() const { return sh_x; }
inline void setShX(const double &v) { sh_x = v; }
inline double getShXUnc() const { return sh_x_unc; }
inline void setShXUnc(const double &v) { sh_x_unc = v; }
inline double getShY() const { return sh_y; }
inline void setShY(const double &v) { sh_y = v; }
inline double getShYUnc() const { return sh_y_unc; }
inline void setShYUnc(const double &v) { sh_y_unc = v; }
inline double getShZ() const { return sh_z; }
inline void setShZ(const double &v) { sh_z = v; }
inline double getShZUnc() const { return sh_z_unc; }
inline void setShZUnc(const double &v) { sh_z_unc = v; }
inline double getRotX() const { return rot_x; }
inline void setRotX(const double &v) { rot_x = v; }
inline double getRotXUnc() const { return rot_x_unc; }
inline void setRotXUnc(const double &v) { rot_x_unc = v; }
inline double getRotY() const { return rot_y; }
inline void setRotY(const double &v) { rot_y = v; }
inline double getRotYUnc() const { return rot_y_unc; }
inline void setRotYUnc(const double &v) { rot_y_unc = v; }
inline double getRotZ() const { return rot_z; }
inline void setRotZ(const double &v) { rot_z = v; }
inline double getRotZUnc() const { return rot_z_unc; }
inline void setRotZUnc(const double &v) { rot_z_unc = v; }
math::XYZVectorD getTranslation() const { return math::XYZVectorD(sh_x, sh_y, sh_z); }
math::XYZVectorD getTranslationUncertainty() const { return math::XYZVectorD(sh_x_unc, sh_y_unc, sh_z_unc); }
ROOT::Math::Rotation3D getRotationMatrix() const {
return ROOT::Math::Rotation3D(ROOT::Math::RotationZYX(rot_z, rot_y, rot_x));
}
/// merges (cumulates) alignements
/// \param sumErrors if true, uncertainties are summed in quadrature, otherwise the uncertainties of this are not changed
/// With the add... switches one can control which corrections are added.
void add(const CTPPSRPAlignmentCorrectionData &, bool sumErrors = true, bool addSh = true, bool addRot = true);
COND_SERIALIZABLE;
};
std::ostream &operator<<(std::ostream &s, const CTPPSRPAlignmentCorrectionData &corr);
#endif
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