TrkPlanarSurface.cxx

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/*
   Copyright (C) 2002-2021 CERN for the benefit of the ATLAS collaboration
 */
 
// TrkPlanarSurface.cpp
//   Implementation of class TrkPlanarSurface
// (c) ATLAS Detector software
// Author: Dmitry Emeliyanov, RAL
// D.Emeliyanov@rl.ac.uk
 
#include "TrkDistributedKalmanFilter/TrkPlanarSurface.h"
#include "TrkSurfaces/Surface.h"
#include <cmath>
#include <cstdio>
#include <cstdlib>
 
namespace Trk
{
TrkPlanarSurface::TrkPlanarSurface(const double c[3], const double n[3],
                                   double m[3][3], double rl, const Surface* pS)
    : m_Rc(0.0), m_radLength(rl), m_input{}, m_trkSurface(pS) {
  int i, j;
 
  m_Params[3] = 0.0;
 
  for (i = 0; i < 3; i++) {
    m_Center[i] = c[i];
    m_Normal[i] = n[i];
    m_Params[i] = n[i];
    m_Params[3] -= n[i] * c[i];
    m_Rc += c[i] * c[i];
  }
  for (i = 0; i < 3; i++) {
    for (j = 0; j < 3; j++)
      m_L[i][j] = m[i][j];
  }
  m_Rc = sqrt(m_Rc);
  calculateInverseTransform();
  m_breakPoint = false;
}
 
  const Surface* TrkPlanarSurface::getTrkSurface() {
    return m_trkSurface;
  }
 
  void TrkPlanarSurface::calculateInverseTransform() {
    m_M[0][0] = m_L[1][1] * m_L[2][2] - m_L[1][2] * m_L[2][1];
    m_M[1][0] = -m_L[1][0] * m_L[2][2] + m_L[1][2] * m_L[2][0];
    m_M[2][0] = m_L[1][0] * m_L[2][1] - m_L[1][1] * m_L[2][0];
    m_M[0][1] = -m_L[0][1] * m_L[2][2] + m_L[0][2] * m_L[2][1];
    m_M[1][1] = m_L[0][0] * m_L[2][2] - m_L[0][2] * m_L[2][0];
    m_M[2][1] = -m_L[0][0] * m_L[2][1] + m_L[0][1] * m_L[2][0];
    m_M[0][2] = m_L[0][1] * m_L[1][2] - m_L[0][2] * m_L[1][1];
    m_M[1][2] = -m_L[0][0] * m_L[1][2] + m_L[0][2] * m_L[1][0];
    m_M[2][2] = m_L[0][0] * m_L[1][1] - m_L[0][1] * m_L[1][0];
  }
 
  
 
  const double* TrkPlanarSurface::getCenter() {
    return &m_Center[0];
  }
 
  double TrkPlanarSurface::radiusVector() const {
    return m_Rc;
  }
 
  const double* TrkPlanarSurface::getNormal() {
    return &m_Normal[0];
  }
 
  const double* TrkPlanarSurface::getParameters() {
    return &m_Params[0];
  }
 
  double TrkPlanarSurface::getPar(int i) {
    return m_Params[i];
  }
 
  double TrkPlanarSurface::getRotMatrix(int i, int j) {
    return m_M[i][j];
  }
 
  double TrkPlanarSurface::getInvRotMatrix(int i, int j) {
    return m_L[i][j];
  }
 
  double TrkPlanarSurface::calculateCombinedMatrix(int i, int j, TrkPlanarSurface* pS) {
    double rc = 0;
 
    for (int m = 0; m < 3; m++) rc += pS->m_M[i][m] * m_L[m][j];
    return rc;
  }
 
  void TrkPlanarSurface::rotateVectorToLocal(const double* X, double* Y) {
    int i;
 
    for (i = 0; i < 3; i++)
      Y[i] = m_M[i][0] * X[0] + m_M[i][1] * X[1] + m_M[i][2] * X[2];
  }
 
  void TrkPlanarSurface::rotateVectorToGlobal(const double* X, double* Y) {
    int i;
 
    for (i = 0; i < 3; i++)
      Y[i] = m_L[i][0] * X[0] + m_L[i][1] * X[1] + m_L[i][2] * X[2];
  }
 
  void TrkPlanarSurface::transformPointToLocal(const double* X, double* Y) {
    int i;
 
    for (i = 0; i < 3; i++)
      Y[i] = m_M[i][0] * (X[0] - m_Center[0]) +
             m_M[i][1] * (X[1] - m_Center[1]) +
             m_M[i][2] * (X[2] - m_Center[2]);
  }
 
  void TrkPlanarSurface::transformPointToGlobal(const double* X, double* Y) {
    int i;
 
    for (i = 0; i < 3; i++)
      Y[i] = m_Center[i] + m_L[i][0] * X[0] + m_L[i][1] * X[1] + m_L[i][2] * X[2];
  }
 
  double TrkPlanarSurface::getRadLength() const {
    //return 0.022;
    return m_radLength;
  }
 
  void TrkPlanarSurface::setBreakPoint(double u) {
    m_breakPoint = true;
    m_input = u;
  }
 
  bool TrkPlanarSurface::isBreakPoint() const {
    return m_breakPoint;
  }
 
  double TrkPlanarSurface::getInput() const {
    return m_input;
  }
 
  void TrkPlanarSurface::report() {
    printf("SURFACE: CENTER x=%f y=%f z=%f R=%f\n", m_Center[0], m_Center[1], m_Center[2], m_Rc);
    printf("         NORMAL nx=%f ny=%f nz=%f\n", m_Normal[0], m_Normal[1], m_Normal[2]);
    printf("EQUATION: (%f)x+(%f)y+(%f)z+(%f)=0\n", m_Params[0], m_Params[1], m_Params[2], m_Params[3]);
    for (auto & i : m_M) {
      for (double j : i) printf("%f ", j);
      printf("\n");
    }
  }
}