Go to the documentation of this file.00001 #ifndef Alignment_CommonAlignmentParametrization_FrameToFrameDerivative_h
00002 #define Alignment_CommonAlignmentParametrization_FrameToFrameDerivative_h
00003
00004 #include "CondFormats/Alignment/interface/Definitions.h"
00005 #include "DataFormats/Math/interface/AlgebraicROOTObjects.h"
00006
00014
00015 class Alignable;
00016
00017 class FrameToFrameDerivative
00018 {
00019 public:
00020
00022 AlgebraicMatrix frameToFrameDerivative(const Alignable* object,
00023 const Alignable* composedObject) const;
00024
00029 AlgebraicMatrix66 getDerivative(const align::RotationType &objectRot,
00030 const align::RotationType &composeRot,
00031 const align::GlobalPoint &objectPos,
00032 const align::GlobalPoint &composePos) const;
00033
00034 private:
00036 inline static AlgebraicMatrix transform(const align::RotationType&);
00037
00039 AlgebraicMatrix getDerivative(const align::RotationType &objectRot,
00040 const align::RotationType &composeRot,
00041 const align::GlobalVector &posVec) const;
00042
00044 AlgebraicVector linearEulerAngles(const AlgebraicMatrix &rotDelta) const;
00045
00047 AlgebraicMatrix derivativePosPos(const AlgebraicMatrix &RotDet,
00048 const AlgebraicMatrix &RotRot) const;
00049
00051 AlgebraicMatrix derivativePosRot(const AlgebraicMatrix &RotDet,
00052 const AlgebraicMatrix &RotRot,
00053 const AlgebraicVector &S) const;
00054
00056 AlgebraicMatrix derivativeRotRot(const AlgebraicMatrix &RotDet,
00057 const AlgebraicMatrix &RotRot) const;
00058
00059 };
00060
00061 AlgebraicMatrix FrameToFrameDerivative::transform(const align::RotationType& rot)
00062 {
00063 AlgebraicMatrix R(3, 3);
00064
00065 R(1, 1) = rot.xx(); R(1, 2) = rot.xy(); R(1, 3) = rot.xz();
00066 R(2, 1) = rot.yx(); R(2, 2) = rot.yy(); R(2, 3) = rot.yz();
00067 R(3, 1) = rot.zx(); R(3, 2) = rot.zy(); R(3, 3) = rot.zz();
00068
00069 return R;
00070 }
00071
00072 #endif
00073
1.7.3