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