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Euler.h
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//# Euler.h: Vector of Euler rotation angles
//# Copyright (C) 1995,1996,1997,1998,1999
//# Associated Universities, Inc. Washington DC, USA.
//#
//# This library is free software; you can redistribute it and/or modify it
//# under the terms of the GNU Library General Public License as published by
//# the Free Software Foundation; either version 2 of the License, or (at your
//# option) any later version.
//#
//# This library is distributed in the hope that it will be useful, but WITHOUT
//# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
//# FITNESS FOR A PARTICULAR PURPOSE. See the GNU Library General Public
//# License for more details.
//#
//# You should have received a copy of the GNU Library General Public License
//# along with this library; if not, write to the Free Software Foundation,
//# Inc., 675 Massachusetts Ave, Cambridge, MA 02139, USA.
//#
//# Correspondence concerning AIPS++ should be addressed as follows:
//# Internet email: casa-feedback@nrao.edu.
//# Postal address: AIPS++ Project Office
//# National Radio Astronomy Observatory
//# 520 Edgemont Road
//# Charlottesville, VA 22903-2475 USA
#ifndef CASA_EULER_H
#define CASA_EULER_H
//# Includes
#include <casacore/casa/aips.h>
#include <casacore/casa/Arrays/Vector.h>
#include <casacore/casa/Quanta/Quantum.h>
#include <utility>
namespace casacore { //# NAMESPACE CASACORE - BEGIN
//# Forward Declarations
// <summary>
// Vector of Euler rotation angles
// </summary>
// <use visibility=local>
// <reviewed reviewer="tcornwel" date="1996/02/15" tests="tMeasMath" demos="">
// </reviewed>
// <prerequisite>
// <li> <linkto class=Vector>Vector</linkto> class
// <li> <linkto class=Quantum>Quantum</linkto> class for units
// <li> <linkto class=RotMatrix>RotMatrix</linkto> class for usage
// </prerequisite>
//
// <etymology>
// Euler angles describe the rotation of a coordinate system
// </etymology>
//
// <synopsis>
// The Euler class is a vector of three angles, together with a vector of
// three signed integers. The angles describe the rotation around an axis of a
// coordinate system, the integers the actual axis around which to rotate.
// The integer can be 0 (do not use this angle) or 1,2,3 to indicate the
// axis.
// Given angles (a1,a2,a3) and axes (i1,i2,i3), the actual rotation matrix
// constructed will be:<br>
// R = R<sub>i3</sub>(a3).R<sub>i2</sub>(a2).R<sub>i1</sub>(a1) <br>
// It has the following constructors:
// <ul>
// <li> Euler() creates a zero filled vector of length 3. Axes: (1,2,3)
// <li> Euler(Euler) creates a copy
// <li> Euler(Double, uInt, Double=0, uInt=0, Double=0, uInt=0) creates an
// Euler with specified values
// <li> Euler(Double, Double=0, Double=0) creates an Euler with (1,2,3)
// <li> Euler(Quantity, uInt, Quantity=0, uInt=0, Quantity=0, uInt=0) creates
// an Euler with specified values
// <li> Euler(Quantity, Quantity=0, Quantity=0) creates an Euler with
// interpretation of angle units in the Quantities
// <li> Euler(<src>Quantum<Vector<Double> ></src>) creates a zero expanded
// Euler from at most the first three elements of Quantity
// vector; with (1,2,3)
// <li> Euler(<src>Quantum<Vector<Double> >, Vector<uInt></src>) creates a
// zero expanded Euler with given values
// </ul>
// It has a unary minus operator, which reverses the sign and order of the
// three angles, and the order of the axes, to produce the Euler angles
// for a rotation with opposite signs, so that <src>RotMatrix(-Euler)</src>
// will generate the inverse rotation matrix as compared with
// <src>RotMatrix(Euler)</src>.<br>
// getAngle() functions return the Euler angles as a Quantum vector.<br>
// Eulers have addition and subtraction (on the angles). Note that this
// produces the correct angles for a combined rotation only if the
// axes are identical.<br>
// A (which) operator returns the indicated angle. Set/get functions
// manipulate the axes.
// </synopsis>
//
// <example>
// <srcblock>
// Quantity angle(25,"deg"); // 25 degrees
// Euler eul(angle.get().getValue(),2); // rotate over axis 2 (radians)
// RotMatrix rot(eul); // generates rotation matrix
// </srcblock>
// </example>
//
// <motivation>
// To use generated precession and nutation results
// </motivation>
//
// <todo asof="1995/09/04">
// </todo>
class Euler
{
public:
//# Friends
// Output Euler angles
friend ostream &operator<<(ostream &os, const Euler &eul);
//# Constructors
// Default constructor generates zero filled Double vector of length 3, with
// (1,2,3) axes
Euler();
// Copy constructor
Euler(const Euler &other);
// Copy assignment
Euler &operator=(const Euler &other);
// Constructs an Euler with specified angles and (1,2,3) axes
Euler(Double in0, Double in1 = 0, Double in2 = 0);
// Constructs an Euler with specified angles and axes
Euler(Double in0, uInt ax0, Double in1 = 0, uInt ax1=0, Double in2 = 0,
uInt ax2=0);
// <thrown>
// <li> AipsError if non-angle units used
// </thrown>
// Constructs an Euler from specified angle quantities
// <group>
Euler(const Quantity &in0);
Euler(const Quantity &in0, const Quantity &in1);
Euler(const Quantity &in0, const Quantity &in1,
const Quantity &in2);
Euler(const Quantity &in0, uInt ax0);
Euler(const Quantity &in0, uInt ax0, const Quantity &in1, uInt ax1=0);
Euler(const Quantity &in0, uInt ax0, const Quantity &in1, uInt ax1,
const Quantity &in2, uInt ax2=0);
// Constructs an Euler (zero filled) from elements of Quantity vector
// <group>
Euler(const Quantum<Vector<Double> > &in);
Euler(const Quantum<Vector<Double> > &in, const Vector<uInt> &ax);
// </group>
// </group>
// Destructor
~Euler();
//# Operators
// The unary minus reverses the sign and order of the Euler angles
Euler operator-() const;
// Addition and subtraction
// <group>
Euler &operator+=(const Euler &right);
Euler operator+(const Euler &right) const;
Euler &operator-=(const Euler &right);
Euler operator-(const Euler &right) const;
// </group>
// Return the which' angle
// <group>
Double &operator()(uInt which);
const Double &operator()(uInt which) const;
// </group>
//# General Member Functions
// with the optional conversion units.
// <group>
Quantum<Vector<Double> > getAngle() const;
Quantum<Vector<Double> > getAngle(const Unit &unit) const;
// </group>
// Set an axis
void set(uInt which, uInt ax);
// Set all axes
void set(uInt ax0, uInt ax1, uInt ax2);
// Get an axis
Int get(uInt which) const;
private:
//# Data
// vector with 3 Euler angles (data.first)
Vector<Double> euler;
// Axes (data.second)
Vector<Int> axes;
//# Private Member Functions
// The makeRad functions check and convert the input Quantities to radians
// <group>
static Double makeRad(const Quantity &in);
static Vector<Double> makeRad(const Quantum<Vector<Double> > &in);
// </group>
};
} //# NAMESPACE CASACORE - END
#endif
casacore::Euler::Euler
Euler(Double in0, uInt ax0, Double in1=0, uInt ax1=0, Double in2=0, uInt ax2=0)
Constructs an Euler with specified angles and axes.
casacore::Euler::Euler
Euler(Double in0, Double in1=0, Double in2=0)
Constructs an Euler with specified angles and (1,2,3) axes.
casacore::Euler::euler
Vector< Double > euler
vector with 3 Euler angles (data.first)
Definition Euler.h:192
casacore::Euler::operator=
Euler & operator=(const Euler &other)
Copy assignment.
casacore::Euler::Euler
Euler(const Quantity &in0)
casacore::Euler::operator<<
friend ostream & operator<<(ostream &os, const Euler &eul)
Output Euler angles.
casacore::Euler::getAngle
Quantum< Vector< Double > > getAngle(const Unit &unit) const
casacore::Euler::Euler
Euler(const Quantity &in0, const Quantity &in1, const Quantity &in2)
casacore::Euler::operator-=
Euler & operator-=(const Euler &right)
casacore::Euler::operator-
Euler operator-() const
The unary minus reverses the sign and order of the Euler angles.
casacore::Euler::operator+
Euler operator+(const Euler &right) const
casacore::Euler::Euler
Euler(const Euler &other)
Copy constructor.
casacore::Euler::~Euler
~Euler()
Destructor.
casacore::Euler::set
void set(uInt ax0, uInt ax1, uInt ax2)
Set all axes.
casacore::Euler::axes
Vector< Int > axes
Axes (data.second).
Definition Euler.h:194
casacore::Euler::set
void set(uInt which, uInt ax)
Set an axis.
casacore::Euler::get
Int get(uInt which) const
Get an axis.
casacore::Euler::Euler
Euler(const Quantity &in0, const Quantity &in1)
casacore::Euler::makeRad
static Double makeRad(const Quantity &in)
The makeRad functions check and convert the input Quantities to radians.
casacore::Euler::Euler
Euler(const Quantity &in0, uInt ax0, const Quantity &in1, uInt ax1, const Quantity &in2, uInt ax2=0)
casacore::Euler::Euler
Euler(const Quantum< Vector< Double > > &in)
Constructs an Euler (zero filled) from elements of Quantity vector.
casacore::Euler::makeRad
static Vector< Double > makeRad(const Quantum< Vector< Double > > &in)
casacore::Euler::Euler
Euler(const Quantity &in0, uInt ax0, const Quantity &in1, uInt ax1=0)
casacore::Euler::Euler
Euler(const Quantum< Vector< Double > > &in, const Vector< uInt > &ax)
casacore::Euler::operator-
Euler operator-(const Euler &right) const
casacore::Euler::getAngle
Quantum< Vector< Double > > getAngle() const
with the optional conversion units.
casacore::Euler::Euler
Euler(const Quantity &in0, uInt ax0)
casacore::Euler::operator()
Double & operator()(uInt which)
Return the which' angle.
casacore::Euler::operator()
const Double & operator()(uInt which) const
casacore::Euler::operator+=
Euler & operator+=(const Euler &right)
Addition and subtraction.
casacore::Euler::Euler
Euler()
Default constructor generates zero filled Double vector of length 3, with (1,2,3) axes.
casacore::Quantum
Definition Quantum.h:269
casacore::Unit
Definition Unit.h:187
casacore::Vector
Definition Vector.h:82
casacore
this file contains all the compiler specific defines
Definition mainpage.dox:28
casacore::uInt
unsigned int uInt
Definition aipstype.h:49
casacore::Int
int Int
Definition aipstype.h:48
casacore::Quantity
Quantum< Double > Quantity
Definition Quantum.h:39
casacore::Double
double Double
Definition aipstype.h:53