1 package org.lcsim.detector;
2
3 import hep.physics.matrix.SymmetricMatrix;
4 import hep.physics.vec.Hep3Matrix;
5 import hep.physics.vec.Hep3Vector;
6
7 import java.io.PrintStream;
8
9 /**
10 * An interface to rotations in 3D space, using interfaces and base classes from
11 * <a href="http://java.freehep.org/freehep-physics/">freehep physics</a>.
12 *
13 * @author Tim Nelson <tknelson@slac.stanford.edu>
14 * @author Jeremy McCormick <jeremym@slac.stanford.edu>
15 *
16 * @version $Id: IRotation3D.java,v 1.11 2010/04/14 17:52:32 jeremy Exp $
17 */
18 public interface IRotation3D
19 {
20 /**
21 * Numerical constants for the X and Y column indices.
22 */
23 public static final int XCol=0, YCol=1, ZCol=2,XRow=0,YRow=1,ZRow=2;
24
25 /**
26 * The number of rows and columns in the matrix.
27 */
28 public static final int NRows=3,NCols=3;
29
30 /**
31 * The rotation in standard rotation matrix form.
32 * @return The BasicHep3Matrix representing this rotation.
33 */
34 public Hep3Matrix getRotationMatrix();
35
36 /**
37 * Set the matrix from a Hep3Matrix interface.
38 * @param matrix
39 */
40 public void setRotationMatrix(Hep3Matrix matrix);
41
42 /**
43 * Multiply this rotation in place with another IRotation3D,
44 * modifying this IRotation3D in place.
45 * @param rotation
46 */
47 public void multiplyBy(IRotation3D rotation);
48
49 /**
50 * Rotate a Hep3Vector in place
51 * @param coordinates
52 */
53 public void rotate(Hep3Vector coordinates);
54
55 /**
56 * Rotate a Hep3Vector
57 * @param coordinates
58 * @return rotated Hep3Vector
59 */
60 public Hep3Vector rotated(Hep3Vector coordinates);
61
62 /**
63 * Rotate a SymmetricMatrix in place (e.g. covariance matrix)
64 * @param matrix
65 */
66 public void rotate(SymmetricMatrix matrix);
67
68 /**
69 * Rotate a SymmetricMatrix (e.g. covariance matrix)
70 * @param matrix
71 * @return rotated SymmetricMatrix
72 */
73 public SymmetricMatrix rotated(SymmetricMatrix matrix);
74
75 /**
76 * Compare this IRotation3D with another.
77 * @param rotation
78 * @return True if all components of the matrices are equal.
79 */
80 public boolean equals(IRotation3D rotation);
81
82 /**
83 * Apply inverse transformation in place.
84 */
85 public void invert();
86
87 /**
88 * Apply inverse transformation, returning
89 * a new IRotation3D, not altering this matrix.
90 * @return A new matrix which is the inverse of this one.
91 */
92 public IRotation3D inverse();
93
94 /**
95 * Get matrix component by row and column.
96 * @param row
97 * @param col
98 * @return Matrix component at row and col.
99 */
100 public double getComponent(int row, int col);
101
102 /**
103 * Reset this IRotation3D to the identity matrix.
104 */
105 public void resetToIdentity();
106
107 /**
108 * True if this IRotation3D is equivalent to the identity matrix.
109 * @return True if this rotation is equal to identity.
110 */
111 public boolean isIdentity();
112
113 /**
114 * Print out rotation
115 * @param PrintStream for output
116 */
117 public void printOut(PrintStream ps);
118
119 }