FrameToFrameDerivative.h

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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 Alignable;

class FrameToFrameDerivative {
public:

  AlgebraicMatrix frameToFrameDerivative(const Alignable *object, const Alignable *composedObject) const;

  AlgebraicMatrix66 getDerivative(const align::RotationType &objectRot,
                                  const align::RotationType &composeRot,
                                  const align::GlobalPoint &objectPos,
                                  const align::GlobalPoint &composePos) const;

private:
  inline static AlgebraicMatrix transform(const align::RotationType &);

  AlgebraicMatrix getDerivative(const align::RotationType &objectRot,
                                const align::RotationType &composeRot,
                                const align::GlobalVector &posVec) const;

  AlgebraicVector linearEulerAngles(const AlgebraicMatrix &rotDelta) const;

  AlgebraicMatrix derivativePosPos(const AlgebraicMatrix &RotDet, const AlgebraicMatrix &RotRot) const;

  AlgebraicMatrix derivativePosRot(const AlgebraicMatrix &RotDet,
                                   const AlgebraicMatrix &RotRot,
                                   const AlgebraicVector &S) const;

  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