1 // -*- C++ -*-
2 // $Id: testRotation.cc,v 1.3 2003/08/13 20:00:14 garren Exp $
3 // ---------------------------------------------------------------------------
4 //
5 // This file is a part of the CLHEP - a Class Library for High Energy Physics.
6 //
7 // This is a test for HepRotation class.
8 //
9 #include "CLHEP/Units/GlobalSystemOfUnits.h" // to see shadowing problems
10 #include "CLHEP/Units/GlobalPhysicalConstants.h"
11 #include "CLHEP/Vector/Rotation.h"
12 #include "CLHEP/Vector/ThreeVector.h"
13 #include <cassert>
14 #include <cmath>
15 #include <stdlib.h>
16
17 using namespace CLHEP;
18
19 typedef HepRotation Rotation;
20 typedef Hep3Vector Vector;
21
22 #define DEL 10.e-16
23
24 // don't generate warnings about unused variables inside assert
main()25 int main() {
26 int i,k;
27 double angA=CLHEP::pi/3, angB=CLHEP::pi/4, angC=CLHEP::pi/6;
28 double cosA =std::cos(angA), sinA =std::sin(angA);
29 double cosB =std::cos(angB), sinB =std::sin(angB);
30 double cosC =std::cos(angC), sinC =std::sin(angC);
31
32 Rotation R; // default constructor
33 assert ( R.xx() == 1 );
34 assert ( R.xy() == 0 );
35 assert ( R.xz() == 0 );
36 assert ( R.yx() == 0 );
37 assert ( R.yy() == 1 );
38 assert ( R.yz() == 0 );
39 assert ( R.zx() == 0 );
40 assert ( R.zy() == 0 );
41 assert ( R.zz() == 1 );
42
43 assert( R.isIdentity() ); // isIdentity()
44
45 R = Rotation(); // rotateX()
46 R.rotateX(angA);
47 assert ( R.xx() == 1 );
48 assert ( R.xy() == 0 );
49 assert ( R.xz() == 0 );
50 assert ( R.yx() == 0 );
51 assert ( R.yy() == cosA );
52 assert ( R.yz() ==-sinA );
53 assert ( R.zx() == 0 );
54 assert ( R.zy() == sinA );
55 assert ( R.zz() == cosA );
56
57 R = Rotation(); // rotateY()
58 R.rotateY(angB);
59 assert ( R.xx() == cosB );
60 assert ( R.xy() == 0 );
61 assert ( R.xz() == sinB );
62 assert ( R.yx() == 0 );
63 assert ( R.yy() == 1 );
64 assert ( R.yz() == 0 );
65 assert ( R.zx() ==-sinB );
66 assert ( R.zy() == 0 );
67 assert ( R.zz() == cosB );
68
69 R = Rotation(); // rotateZ()
70 R.rotateZ(angC);
71 assert ( R.xx() == cosC );
72 assert ( R.xy() ==-sinC );
73 assert ( R.xz() == 0 );
74 assert ( R.yx() == sinC );
75 assert ( R.yy() == cosC );
76 assert ( R.yz() == 0 );
77 assert ( R.zx() == 0 );
78 assert ( R.zy() == 0 );
79 assert ( R.zz() == 1 );
80
81 R = Rotation(); // copy constructor
82 R.rotateZ(angC);
83 R.rotateY(angB);
84 R.rotateZ(angA);
85 Rotation RR(R);
86
87 assert ( std::abs(RR.xx() - cosA*cosB*cosC + sinA*sinC) < DEL );
88 assert ( std::abs(RR.xy() + cosA*cosB*sinC + sinA*cosC) < DEL );
89 assert ( std::abs(RR.xz() - cosA*sinB) < DEL );
90 assert ( std::abs(RR.yx() - sinA*cosB*cosC - cosA*sinC) < DEL );
91 assert ( std::abs(RR.yy() + sinA*cosB*sinC - cosA*cosC) < DEL );
92 assert ( std::abs(RR.yz() - sinA*sinB) < DEL );
93 assert ( std::abs(RR.zx() + sinB*cosC) < DEL );
94 assert ( std::abs(RR.zy() - sinB*sinC) < DEL );
95 assert ( std::abs(RR.zz() - cosB) < DEL );
96
97 RR = Rotation(); // operator=, operator!=, operator==
98 assert ( RR != R );
99 RR = R;
100 assert ( RR == R );
101
102 assert ( R(0,0) == R.xx() ); // operator(i,j), operator[i][j]
103 assert ( R(0,1) == R.xy() );
104 assert ( R(0,2) == R.xz() );
105 assert ( R(1,0) == R.yx() );
106 assert ( R(1,1) == R.yy() );
107 assert ( R(1,2) == R.yz() );
108 assert ( R(2,0) == R.zx() );
109 assert ( R(2,1) == R.zy() );
110 assert ( R(2,2) == R.zz() );
111
112 for(i=0; i<3; i++) {
113 for(k=0; k<3; k++) {
114 assert ( RR(i,k) == R[i][k] );
115 }
116 }
117
118 Rotation A, B ,C; // operator*=
119 A.rotateZ(angA);
120 B.rotateY(angB);
121 C.rotateZ(angC);
122 R = A; R *= B; R *= C;
123
124 Vector V(1,2,3); // operator* (Vector)
125 V = R * V;
126 assert ( std::abs(V.x()-R.xx()-2.*R.xy()-3.*R.xz()) < DEL );
127 assert ( std::abs(V.y()-R.yx()-2.*R.yy()-3.*R.yz()) < DEL );
128 assert ( std::abs(V.z()-R.zx()-2.*R.zy()-3.*R.zz()) < DEL );
129
130 R = A * B * C; // operator*(Matrix)
131 assert ( std::abs(RR.xx() - R.xx()) < DEL );
132 assert ( std::abs(RR.xy() - R.xy()) < DEL );
133 assert ( std::abs(RR.xz() - R.xz()) < DEL );
134 assert ( std::abs(RR.yx() - R.yx()) < DEL );
135 assert ( std::abs(RR.yy() - R.yy()) < DEL );
136 assert ( std::abs(RR.yz() - R.yz()) < DEL );
137 assert ( std::abs(RR.zx() - R.zx()) < DEL );
138 assert ( std::abs(RR.zy() - R.zy()) < DEL );
139 assert ( std::abs(RR.zz() - R.zz()) < DEL );
140
141 R = C; // transform()
142 R.transform(B);
143 R.transform(A);
144 assert ( std::abs(RR.xx() - R.xx()) < DEL );
145 assert ( std::abs(RR.xy() - R.xy()) < DEL );
146 assert ( std::abs(RR.xz() - R.xz()) < DEL );
147 assert ( std::abs(RR.yx() - R.yx()) < DEL );
148 assert ( std::abs(RR.yy() - R.yy()) < DEL );
149 assert ( std::abs(RR.yz() - R.yz()) < DEL );
150 assert ( std::abs(RR.zx() - R.zx()) < DEL );
151 assert ( std::abs(RR.zy() - R.zy()) < DEL );
152 assert ( std::abs(RR.zz() - R.zz()) < DEL );
153
154 R = RR.inverse(); // inverse()
155 for(i=0; i<3; i++) {
156 for(k=0; k<3; k++) {
157 assert ( RR(i,k) == R[k][i] );
158 }
159 }
160
161 R.invert(); // invert()
162 assert ( RR == R );
163
164 R = Rotation(); // rotateAxes()
165 R.rotateAxes( Vector(RR.xx(), RR.yx(), RR.zx()),
166 Vector(RR.xy(), RR.yy(), RR.zy()),
167 Vector(RR.xz(), RR.yz(), RR.zz()) );
168 assert ( RR == R );
169
170 double ang=CLHEP::twopi/9.; // rotate()
171 R = Rotation();
172 R.rotate(ang, V);
173
174 RR = Rotation();
175 RR.rotateZ(-(V.phi()));
176 RR.rotateY(-(V.theta()));
177 RR.rotateZ(ang);
178 RR.rotateY(V.theta());
179 RR.rotateZ(V.phi());
180
181 assert ( std::abs(RR.xx() - R.xx()) < DEL );
182 assert ( std::abs(RR.xy() - R.xy()) < DEL );
183 assert ( std::abs(RR.xz() - R.xz()) < DEL );
184 assert ( std::abs(RR.yx() - R.yx()) < DEL );
185 assert ( std::abs(RR.yy() - R.yy()) < DEL );
186 assert ( std::abs(RR.yz() - R.yz()) < DEL );
187 assert ( std::abs(RR.zx() - R.zx()) < DEL );
188 assert ( std::abs(RR.zy() - R.zy()) < DEL );
189 assert ( std::abs(RR.zz() - R.zz()) < DEL );
190
191 Vector Vu = V.unit(); // getAngleAxis
192 R.getAngleAxis(ang, V);
193 assert ( std::abs(ang - CLHEP::twopi/9.) < DEL );
194 assert ( std::abs(V.x() - Vu.x()) < DEL );
195 assert ( std::abs(V.y() - Vu.y()) < DEL );
196 assert ( std::abs(V.z() - Vu.z()) < DEL );
197
198 assert ( std::abs(RR.phiX()-std::atan2(RR.yx(),RR.xx())) < DEL ); // phiX()
199 assert ( std::abs(RR.phiY()-std::atan2(RR.yy(),RR.xy())) < DEL ); // phiY()
200 assert ( std::abs(RR.phiZ()-std::atan2(RR.yz(),RR.xz())) < DEL ); // phiZ()
201
202 assert ( std::abs(RR.thetaX()-std::acos(RR.zx())) < DEL ); // thetaX()
203 assert ( std::abs(RR.thetaY()-std::acos(RR.zy())) < DEL ); // thetaY()
204 assert ( std::abs(RR.thetaZ()-std::acos(RR.zz())) < DEL ); // thetaZ()
205
206 return 0;
207 }
208