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Euler.h
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1 //# Euler.h: Vector of Euler rotation angles
2 //# Copyright (C) 1995,1996,1997,1998,1999
3 //# Associated Universities, Inc. Washington DC, USA.
4 //#
5 //# This library is free software; you can redistribute it and/or modify it
6 //# under the terms of the GNU Library General Public License as published by
7 //# the Free Software Foundation; either version 2 of the License, or (at your
8 //# option) any later version.
9 //#
10 //# This library is distributed in the hope that it will be useful, but WITHOUT
11 //# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
12 //# FITNESS FOR A PARTICULAR PURPOSE. See the GNU Library General Public
13 //# License for more details.
14 //#
15 //# You should have received a copy of the GNU Library General Public License
16 //# along with this library; if not, write to the Free Software Foundation,
17 //# Inc., 675 Massachusetts Ave, Cambridge, MA 02139, USA.
18 //#
19 //# Correspondence concerning AIPS++ should be addressed as follows:
20 //# Internet email: aips2-request@nrao.edu.
21 //# Postal address: AIPS++ Project Office
22 //# National Radio Astronomy Observatory
23 //# 520 Edgemont Road
24 //# Charlottesville, VA 22903-2475 USA
25 //#
26 //# $Id$
27 
28 #ifndef CASA_EULER_H
29 #define CASA_EULER_H
30 
31 
32 //# Includes
33 #include <casacore/casa/aips.h>
36 #include <utility>
37 
38 namespace casacore { //# NAMESPACE CASACORE - BEGIN
39 
40 //# Forward Declarations
41 
42 
43 // <summary>
44 // Vector of Euler rotation angles
45 // </summary>
46 
47 // <use visibility=local>
48 
49 // <reviewed reviewer="tcornwel" date="1996/02/15" tests="tMeasMath" demos="">
50 // </reviewed>
51 
52 // <prerequisite>
53 // <li> <linkto class=Vector>Vector</linkto> class
54 // <li> <linkto class=Quantum>Quantum</linkto> class for units
55 // <li> <linkto class=RotMatrix>RotMatrix</linkto> class for usage
56 // </prerequisite>
57 //
58 // <etymology>
59 // Euler angles describe the rotation of a coordinate system
60 // </etymology>
61 //
62 // <synopsis>
63 // The Euler class is a vector of three angles, together with a vector of
64 // three signed integers. The angles describe the rotation around an axis of a
65 // coordinate system, the integers the actual axis around which to rotate.
66 // The integer can be 0 (do not use this angle) or 1,2,3 to indicate the
67 // axis.
68 // Given angles (a1,a2,a3) and axes (i1,i2,i3), the actual rotation matrix
69 // constructed will be:<br>
70 // R = R<sub>i3</sub>(a3).R<sub>i2</sub>(a2).R<sub>i1</sub>(a1) <br>
71 // It has the following constructors:
72 // <ul>
73 // <li> Euler() creates a zero filled vector of length 3. Axes: (1,2,3)
74 // <li> Euler(Euler) creates a copy
75 // <li> Euler(Double, uInt, Double=0, uInt=0, Double=0, uInt=0) creates an
76 // Euler with specified values
77 // <li> Euler(Double, Double=0, Double=0) creates an Euler with (1,2,3)
78 // <li> Euler(Quantity, uInt, Quantity=0, uInt=0, Quantity=0, uInt=0) creates
79 // an Euler with specified values
80 // <li> Euler(Quantity, Quantity=0, Quantity=0) creates an Euler with
81 // interpretation of angle units in the Quantities
82 // <li> Euler(<src>Quantum<Vector<Double> ></src>) creates a zero expanded
83 // Euler from at most the first three elements of Quantity
84 // vector; with (1,2,3)
85 // <li> Euler(<src>Quantum<Vector<Double> >, Vector<uInt></src>) creates a
86 // zero expanded Euler with given values
87 // </ul>
88 // It has a unary minus operator, which reverses the sign and order of the
89 // three angles, and the order of the axes, to produce the Euler angles
90 // for a rotation with opposite signs, so that <src>RotMatrix(-Euler)</src>
91 // will generate the inverse rotation matrix as compared with
92 // <src>RotMatrix(Euler)</src>.<br>
93 // getAngle() functions return the Euler angles as a Quantum vector.<br>
94 // Eulers have addition and subtraction (on the angles). Note that this
95 // produces the correct angles for a combined rotation only if the
96 // axes are identical.<br>
97 // A (which) operator returns the indicated angle. Set/get functions
98 // manipulate the axes.
99 // </synopsis>
100 //
101 // <example>
102 // <srcblock>
103 // Quantity angle(25,"deg"); // 25 degrees
104 // Euler eul(angle.get().getValue(),2); // rotate over axis 2 (radians)
105 // RotMatrix rot(eul); // generates rotation matrix
106 // </srcblock>
107 // </example>
108 //
109 // <motivation>
110 // To use generated precession and nutation results
111 // </motivation>
112 //
113 // <todo asof="1995/09/04">
114 // </todo>
115 
116 class Euler
117 {
118  public:
119 //# Friends
120 // Output Euler angles
121  friend ostream &operator<<(ostream &os, const Euler &eul);
122 
123 //# Constructors
124 // Default constructor generates zero filled Double vector of length 3, with
125 // (1,2,3) axes
126  Euler();
127 // Copy constructor
128  Euler(const Euler &other);
129 // Copy assignment
130  Euler &operator=(const Euler &other);
131 // Constructs an Euler with specified angles and (1,2,3) axes
132  Euler(Double in0, Double in1 = 0, Double in2 = 0);
133 // Constructs an Euler with specified angles and axes
134  Euler(Double in0, uInt ax0, Double in1 = 0, uInt ax1=0, Double in2 = 0,
135  uInt ax2=0);
136 // <thrown>
137 // <li> AipsError if non-angle units used
138 // </thrown>
139 // Constructs an Euler from specified angle quantities
140 // <group>
141  Euler(const Quantity &in0);
142  Euler(const Quantity &in0, const Quantity &in1);
143  Euler(const Quantity &in0, const Quantity &in1,
144  const Quantity &in2);
145  Euler(const Quantity &in0, uInt ax0);
146  Euler(const Quantity &in0, uInt ax0, const Quantity &in1, uInt ax1=0);
147  Euler(const Quantity &in0, uInt ax0, const Quantity &in1, uInt ax1,
148  const Quantity &in2, uInt ax2=0);
149 // Constructs an Euler (zero filled) from elements of Quantity vector
150 // <group>
151  Euler(const Quantum<Vector<Double> > &in);
152  Euler(const Quantum<Vector<Double> > &in, const Vector<uInt> &ax);
153 // </group>
154 // </group>
155 
156 // Destructor
157  ~Euler();
158 
159 //# Operators
160 // The unary minus reverses the sign and order of the Euler angles
161  Euler operator-() const;
162 // Addition and subtraction
163 // <group>
164  Euler &operator+=(const Euler &right);
165  Euler operator+(const Euler &right) const;
166  Euler &operator-=(const Euler &right);
167  Euler operator-(const Euler &right) const;
168 // </group>
169 // Return the which' angle
170 // <group>
171  Double &operator()(uInt which);
172  const Double &operator()(uInt which) const;
173 // </group>
174 
175 //# General Member Functions
176 // with the optional conversion units.
177 // <group>
179  Quantum<Vector<Double> > getAngle(const Unit &unit) const;
180 // </group>
181 
182 // Set an axis
183  void set(uInt which, uInt ax);
184 
185 // Set all axes
186  void set(uInt ax0, uInt ax1, uInt ax2);
187 
188 // Get an axis
189  Int get(uInt which) const;
190 
191 private:
192 //# Data
193 // vector with 3 Euler angles (data.first)
195 // Axes (data.second)
197 
198 //# Private Member Functions
199 // The makeRad functions check and convert the input Quantities to radians
200 // <group>
201  static Double makeRad(const Quantity &in);
202  static Vector<Double> makeRad(const Quantum<Vector<Double> > &in);
203 // </group>
204 };
205 
206 
207 } //# NAMESPACE CASACORE - END
208 
209 #endif
210 
211 
int Int
Definition: aipstype.h:50
Euler operator+(const Euler &right) const
friend ostream & operator<<(ostream &os, const Euler &eul)
Output Euler angles.
Vector< Double > euler
vector with 3 Euler angles (data.first)
Definition: Euler.h:194
~Euler()
Destructor.
Euler & operator-=(const Euler &right)
Euler()
Default constructor generates zero filled Double vector of length 3, with (1,2,3) axes...
defines physical units
Definition: Unit.h:189
Euler & operator=(const Euler &other)
Copy assignment.
double Double
Definition: aipstype.h:55
static Double makeRad(const Quantity &in)
The makeRad functions check and convert the input Quantities to radians.
Euler & operator+=(const Euler &right)
Addition and subtraction.
void set(uInt which, uInt ax)
Set an axis.
Vector< Int > axes
Axes (data.second)
Definition: Euler.h:196
Euler operator-() const
The unary minus reverses the sign and order of the Euler angles.
unsigned int uInt
Definition: aipstype.h:51
Quantum< Vector< Double > > getAngle() const
with the optional conversion units.
Double & operator()(uInt which)
Return the which&#39; angle.
Vector of Euler rotation angles.
Definition: Euler.h:116