RotationTransformation.cxx

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#include "RotationTransformation.h"

#include <algorithm>
#include <cmath>
#include <limits>

#include "messagefacility/MessageLogger/MessageLogger.h"

namespace gar {
    namespace gar_pandora {

        const int RotationTransformation::kAxisX = 0;
        const int RotationTransformation::kAxisY = 1;
        const int RotationTransformation::kAxisZ = 2;

        //------------------------------------------------------------------------------------------------------------------------------------------

        RotationTransformation::RotationTransformation(int axis, float angle)
        : m_RotationSet(false),
        m_RotationAngle(angle * CLHEP::pi /180.)
        {
            switch (axis)
            {
            case kAxisX:
                this->SetRotationX();
                MF_LOG_INFO("RotationTransformation")
                << "Rotation set around the x axis with angle " << m_RotationAngle << " rad";
                m_RotationSet = true;
                break;
            case kAxisY:
                this->SetRotationY();
                MF_LOG_INFO("RotationTransformation")
                << "Rotation set around the y axis with angle " << m_RotationAngle << " rad";
                m_RotationSet = true;
                break;
            case kAxisZ:
                this->SetRotationZ();
                MF_LOG_INFO("RotationTransformation")
                << "Rotation set around the z axis with angle " << m_RotationAngle << " rad";
                m_RotationSet = true;
                break;
            default:
                throw;
                break;
            }
        }

        //------------------------------------------------------------------------------------------------------------------------------------------

        RotationTransformation::~RotationTransformation() {}

        //------------------------------------------------------------------------------------------------------------------------------------------

        const pandora::CartesianVector RotationTransformation::MakeRotation(const pandora::CartesianVector &initialVec) const
        {
            if(m_RotationSet) {
                return pandora::CartesianVector( initialVec.GetX() * fRotMatrix[0] + initialVec.GetY() * fRotMatrix[3] + initialVec.GetZ() * fRotMatrix[6], initialVec.GetX() * fRotMatrix[1] + initialVec.GetY() * fRotMatrix[4] + initialVec.GetZ() * fRotMatrix[7], initialVec.GetX() * fRotMatrix[2] + initialVec.GetY() * fRotMatrix[5] + initialVec.GetZ() * fRotMatrix[8] );
            } else {
                MF_LOG_INFO("RotationTransformation")
                << "No rotation axis was defined - operation aborted!";
                return pandora::CartesianVector(initialVec.GetX(), initialVec.GetY(), initialVec.GetZ());
            }
        }

        //------------------------------------------------------------------------------------------------------------------------------------------

        void RotationTransformation::SetRotationX()
        {
            //col x
            fRotMatrix[0] = 1.;
            fRotMatrix[1] = 0.;
            fRotMatrix[2] = 0.;

            //col y
            fRotMatrix[3] = 0.;
            fRotMatrix[4] = std::cos(m_RotationAngle);
            fRotMatrix[5] = std::sin(m_RotationAngle);

            //col z
            fRotMatrix[6] = 0.;
            fRotMatrix[7] = -std::sin(m_RotationAngle);
            fRotMatrix[8] = std::cos(m_RotationAngle);
        }

        //------------------------------------------------------------------------------------------------------------------------------------------

        void RotationTransformation::SetRotationY()
        {
            //col x
            fRotMatrix[0] = std::cos(m_RotationAngle);
            fRotMatrix[1] = 0.;
            fRotMatrix[2] = -std::sin(m_RotationAngle);

            //col y
            fRotMatrix[3] = 0.;
            fRotMatrix[4] = 1.;
            fRotMatrix[5] = 0.;

            //col z
            fRotMatrix[6] = std::sin(m_RotationAngle);
            fRotMatrix[7] = 0.;
            fRotMatrix[8] = std::cos(m_RotationAngle);
        }

        //------------------------------------------------------------------------------------------------------------------------------------------

        void RotationTransformation::SetRotationZ()
        {
            //col x
            fRotMatrix[0] = std::cos(m_RotationAngle);
            fRotMatrix[1] = std::sin(m_RotationAngle);
            fRotMatrix[2] = 0.;

            //col y
            fRotMatrix[3] = -std::sin(m_RotationAngle);
            fRotMatrix[4] = std::cos(m_RotationAngle);
            fRotMatrix[5] = 0.;

            //col z
            fRotMatrix[6] = 0.;
            fRotMatrix[7] = 0.;
            fRotMatrix[8] = 1.;
        }
    }
}