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#include "CLHEP/Units/SystemOfUnits.h"
#include "CLHEP/Vector/ThreeVector.h"
#include "CLHEP/Vector/Rotation.h"
#include <assert.h>
#include <cmath>
#include <iostream>
bool equal(double a, double b) {
const double eps = 1e-9;
return (std::abs(a - b) < eps);
}
bool equal(const CLHEP::Hep3Vector& a, const CLHEP::Hep3Vector& b) {
const double eps = 1e-10;
return (std::abs(a.x() - b.x()) < eps &&
std::abs(a.y() - b.y()) < eps &&
std::abs(a.z() - b.z()) < eps);
}
using namespace CLHEP;
int main()
{
std::cout << "\n=== Check rotation around specified axes" << std::endl;
HepRotation rot;
Hep3Vector axis;
std::cout << "Zero rotation - OK" << std::endl;
axis.set(0,0,1);
rot.set(HepRep3x3( 1, 0, 0,
0, 1, 0,
0, 0, 1 ));
assert(equal(rot.delta(),0));
assert(equal(rot.axis(),axis));
std::cout << "Rotation by 180 degrees around X - OK" << std::endl;
axis.set(1,0,0);
rot.set(HepRep3x3( 1, 0, 0,
0,-1, 0,
0, 0,-1 ));
assert(equal(rot.delta(),pi));
assert(equal(rot.axis(),axis) || equal(rot.axis(),-axis));
std::cout << "Rotation by 180 degrees around Y - OK" << std::endl;
axis.set(0,1,0);
rot.set(HepRep3x3(-1, 0, 0,
0, 1, 0,
0, 0,-1 ));
assert(equal(rot.delta(),pi));
assert(equal(rot.axis(),axis) || equal(rot.axis(),-axis));
std::cout << "Rotation by 180 degrees around Z - OK" << std::endl;
axis.set(0,0,1);
rot.set(HepRep3x3(-1, 0, 0,
0,-1, 0,
0, 0, 1 ));
assert(equal(rot.delta(),pi));
assert(equal(rot.axis(),axis) || equal(rot.axis(),-axis));
std::cout << "Rotation by 180 degrees around XY - OK" << std::endl;
axis = Hep3Vector(1,1,0).unit();
rot.set(HepRep3x3( 0, 1, 0,
1, 0, 0,
0, 0,-1 ));
assert(equal(rot.delta(),pi));
assert(equal(rot.axis(),axis) || equal(rot.axis(),-axis));
std::cout << "Rotation by 180 degrees around YZ - OK" << std::endl;
axis = Hep3Vector(0,1,1).unit();
rot.set(HepRep3x3(-1, 0, 0,
0, 0, 1,
0, 1, 0 ));
assert(equal(rot.delta(),pi));
assert(equal(rot.axis(),axis) || equal(rot.axis(),-axis));
std::cout << "Rotation by 180 degrees around ZX - OK" << std::endl;
axis = Hep3Vector(1,0,1).unit();
rot.set(HepRep3x3( 0, 0, 1,
0,-1, 0,
1, 0, 0 ));
assert(equal(rot.delta(),pi));
assert(equal(rot.axis(),axis) || equal(rot.axis(),-axis));
//-------------------------------------------------------
//
CLHEP::HepRotation matrix;
CLHEP::Hep3Vector vinput, voutput;
int step = 1;
std::cout << "\n=== Check all possible axes and angles (step = " << step << " degree)" << std::endl;
for ( int the = 0; the <= 180; the += step) {
for ( int phi = 0; phi < 360; phi += step) {
for (int a = 0; a < 360; a += step) {
double z = std::cos(the*deg);
double y = std::sin(the*deg)*sin(phi*deg);
double x = std::sin(the*deg)*cos(phi*deg);
double ang = a*deg;
// Set rotation matrix
vinput.set(x, y, z);
matrix.set(vinput, ang);
// Get axis/angle
voutput = matrix.axis();
double del = matrix.delta();
if (a > 180) {
del = CLHEP::twopi - del;
voutput = -voutput;
}
// Check angle
if (a != 180) assert( equal(ang,del) ); // at 180, precision can be less than eps
// Check axis
if (a == 0) continue; // no check, any axis is good
if (a == 180 ) {
assert( equal(vinput,voutput) || equal(-vinput,voutput));
} else {
assert( equal(vinput,voutput) );
}
}
}
}
std::cout << "OK" << std::endl;
//-------------------------------------------------------
//
int istep = 10000;
std::cout << "\n=== Check angles near 0 (step = 1/" << istep << " degree)" << std::endl;
for ( int the = 0; the <= 180; the += 5) {
for ( int phi = 0; phi < 360; phi += 5) {
for (int a = -istep; a <= istep; a += 1) {
double z = std::cos(the*deg);
double y = std::sin(the*deg)*sin(phi*deg);
double x = std::sin(the*deg)*cos(phi*deg);
double ang = 0. + a * (deg/istep);
// Set rotation matrix
vinput.set(x, y, z);
matrix.set(vinput, ang);
// Get axis/angle
voutput = matrix.axis();
double del = matrix.delta();
if (a < 0) {
del = -del;
voutput = -voutput;
}
// Check angle
assert( equal(ang,del) );
// Check axis
if (a == 0) continue; // no check, any axis is good
assert( equal(vinput,voutput) );
}
}
}
std::cout << "OK" << std::endl;
//-------------------------------------------------------
//
istep = 10000;
std::cout << "\n=== Check angles near 180 (step = 1/" << istep << " degree)" << std::endl;
for ( int the = 0; the <= 180; the += 5) {
for ( int phi = 0; phi < 360; phi += 5) {
for (int a = -istep; a <= istep; a += 1) {
double z = std::cos(the*deg);
double y = std::sin(the*deg)*sin(phi*deg);
double x = std::sin(the*deg)*cos(phi*deg);
double ang = pi + a * (deg/istep);
// Set rotation matrix
vinput.set(x, y, z);
matrix.set(vinput, ang);
// Get axis/angle
voutput = matrix.axis();
double del = matrix.delta();
if (a > 0) {
del = CLHEP::twopi - del;
voutput = -voutput;
}
// Check angle
if (a != 0) assert( equal(ang,del) ); // at 180, precision can be less than eps
// Check axis
if (a == 0 ) {
assert( equal(vinput,voutput) || equal(-vinput,voutput));
} else {
assert( equal(vinput,voutput) );
}
}
}
}
std::cout << "OK" << std::endl;
std::cout << std::endl;
return 0 ;
}
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