CLHEPtoEigenConverter.h

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/*
  Copyright (C) 2002-2026 CERN for the benefit of the ATLAS collaboration
*/

 
#ifndef GEOPRIMITIVES_CLHEPTOEIGENCONVERTER_H_
#define GEOPRIMITIVES_CLHEPTOEIGENCONVERTER_H_
 
#include "GeoPrimitives/GeoPrimitives.h"
#include "GeoPrimitives/GeoPrimitivesHelpers.h"
 
#include "CLHEP/Geometry/Transform3D.h"
#include "CLHEP/Geometry/Point3D.h"
#include "CLHEP/Vector/Rotation.h"
#include "CLHEP/Vector/ThreeVector.h"
 
namespace Amg {

    inline Amg::Isometry3D CLHEPTransformToEigen(
            const HepGeom::Transform3D& CLHEPtransf) {
        Amg::Isometry3D t{Amg::Isometry3D::Identity()};
        auto rotation{t.linear()};
        auto translation{t.translation()};
        //loop unrolled for performance
        rotation(0, 0) = CLHEPtransf(0, 0);
        rotation(0, 1) = CLHEPtransf(0, 1);
        rotation(0, 2) = CLHEPtransf(0, 2);
        rotation(1, 0) = CLHEPtransf(1, 0);
        rotation(1, 1) = CLHEPtransf(1, 1);
        rotation(1, 2) = CLHEPtransf(1, 2);
        rotation(2, 0) = CLHEPtransf(2, 0);
        rotation(2, 1) = CLHEPtransf(2, 1);
        rotation(2, 2) = CLHEPtransf(2, 2);
        translation[0] = CLHEPtransf(0, 3);
        translation[1] = CLHEPtransf(1, 3);
        translation[2] = CLHEPtransf(2, 3);
        assert( (t.linear() * t.linear().transpose() -
                 Amg::RotationMatrix3D::Identity()).cwiseAbs().maxCoeff() < 1.e-9);
        return t;
    }
    
    inline RotationMatrix3D CLHEPRotationToEigen(
            const CLHEP::HepRotation& CLHEProtation) {
        Amg::RotationMatrix3D t;
 
        t(0, 0) = CLHEProtation(0, 0);
        t(0, 1) = CLHEProtation(0, 1);
        t(0, 2) = CLHEProtation(0, 2);
        t(1, 0) = CLHEProtation(1, 0);
        t(1, 1) = CLHEProtation(1, 1);
        t(1, 2) = CLHEProtation(1, 2);
        t(2, 0) = CLHEProtation(2, 0);
        t(2, 1) = CLHEProtation(2, 1);
        t(2, 2) = CLHEProtation(2, 2);
        return t;
    }

    inline Amg::Isometry3D CLHEPTranslate3DToEigen(
            const HepGeom::Translate3D& CLHEPtranslate3D) {
        return getTranslate3D(CLHEPtranslate3D(0, 3), 
                              CLHEPtranslate3D(1, 3), 
                              CLHEPtranslate3D(2, 3));
    }
    
    inline HepGeom::Transform3D EigenTransformToCLHEP(
            const Amg::Transform3D& eigenTransf) {
        CLHEP::HepRotation rotation(
                CLHEP::Hep3Vector(eigenTransf(0, 0), eigenTransf(1, 0), eigenTransf(2, 0)),
                CLHEP::Hep3Vector(eigenTransf(0, 1), eigenTransf(1, 1), eigenTransf(2, 1)),
                CLHEP::Hep3Vector(eigenTransf(0, 2), eigenTransf(1, 2), eigenTransf(2, 2)));
        CLHEP::Hep3Vector translation(eigenTransf(0, 3), eigenTransf(1, 3), eigenTransf(2, 3));
        HepGeom::Transform3D t(rotation, translation);
        return t;
    }

    inline Amg::Vector3D Hep3VectorToEigen(const CLHEP::Hep3Vector& CLHEPvector) {
        return Amg::Vector3D{CLHEPvector[0], CLHEPvector[1], CLHEPvector[2]};
    }

    inline CLHEP::Hep3Vector EigenToHep3Vector(const Amg::Vector3D& eigenvector) {
        return CLHEP::Hep3Vector{eigenvector[0], eigenvector[1], eigenvector[2]};
    }
}
 
#endif