 |
 |
| Commit in projects/lcsim/trunk/detector-framework/src/main/java/org/lcsim/geometry on MAIN | |||
| compact/converter/lcdd/HPSTestRunTracker2014.java | +7 | -162 | 3350 -> 3351 |
| /HPSTestRunTracker2014GeometryDefinition.java | +47 | -37 | 3350 -> 3351 |
| /HPSTrackerJavaBuilder.java | +5 | -27 | 3350 -> 3351 |
| /HPSTrackerLCDDBuilder.java | +3 | -10 | 3350 -> 3351 |
| util/TransformationUtils.java | +177 | added 3351 | |
| +239 | -236 | ||
Pulling out transformation to a util class. Fix cardan angle extraction. Adding stereo sensor to geometry. Padding module box size to accomodate the half-module volume and some alignment corrections. Random size for now but may need to quantify the sizes later or add tests to avoid overlaps.
--- projects/lcsim/trunk/detector-framework/src/main/java/org/lcsim/geometry/compact/converter/lcdd/HPSTestRunTracker2014.java 2014-09-27 20:47:23 UTC (rev 3350) +++ projects/lcsim/trunk/detector-framework/src/main/java/org/lcsim/geometry/compact/converter/lcdd/HPSTestRunTracker2014.java 2014-09-28 21:36:25 UTC (rev 3351) @@ -3,14 +3,12 @@
import static java.lang.Math.PI; import hep.physics.vec.BasicHep3Vector; import hep.physics.vec.Hep3Vector;
-import hep.physics.vec.VecOp;
import java.util.Iterator; import org.jdom.DataConversionException; import org.jdom.Element; import org.jdom.JDOMException;
-import org.lcsim.detector.RotationGeant;
import org.lcsim.detector.Transform3D; import org.lcsim.geometry.compact.converter.lcdd.HPSTrackerLCDDBuilder.GhostLCDDBaseGeometry; import org.lcsim.geometry.compact.converter.lcdd.HPSTrackerLCDDBuilder.LCDDBaseGeometry;
@@ -21,6 +19,7 @@
import org.lcsim.geometry.compact.converter.lcdd.util.Rotation; import org.lcsim.geometry.compact.converter.lcdd.util.SensitiveDetector; import org.lcsim.geometry.compact.converter.lcdd.util.Volume;
+import org.lcsim.geometry.util.TransformationUtils;
/**
@@ -296,160 +295,6 @@
- public static void printMatrix(double [][] mat) {
- for(int r=0;r<3;++r) {
- String row = "";
- for(int c=0;c<3;++c) {
- row += String.format(" %f",mat[r][c]);
- }
- System.out.println(row);
- }
- }
-
-
-
- public static Hep3Vector getEulerAngles(Hep3Vector u, Hep3Vector v, Hep3Vector u_prime, Hep3Vector v_prime) {
- int debug = 0;
- if (debug>0) System.out.printf("getEulerAngles: u %s v%s -> %s %s\n",u.toString(),v.toString(),u_prime.toString(),v_prime.toString());
- // Convert to correct API
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D u_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(u.v());
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D v_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(v.v());
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D u_prime_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(u_prime.v());
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D v_prime_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(v_prime.v());
- //Create the rotation
- // Note that the constructor used here creates the rotation using active transformations
- org.apache.commons.math3.geometry.euclidean.threed.Rotation rot = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(u_3D,v_3D,u_prime_3D,v_prime_3D);
- // The the Cardan angles of the rotation
- // Since the rotation was created based on active transformations convert to passive right here.
- // This conversion is simply to reverse the order of rotations.
- double res[] = rot.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.ZYX);
- Hep3Vector euler = new BasicHep3Vector(res[2],res[1],res[0]);
- //double res[] = rot.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ);
- //Hep3Vector euler = new BasicHep3Vector(res);
-
- if(debug>0) {
- System.out.println("Input: u " + u_3D.toString() + " v " + v_3D.toString() + " u' " + u_prime_3D.toString() + " v' " + v_prime_3D.toString());
- System.out.println("rot matrix:");
- printMatrix(rot.getMatrix());
-
- System.out.println("Resulting XYZ angles " + euler.toString());
- }
-
- if(debug>1) {
- System.out.println("------- TESTING ");
-
- org.apache.commons.math3.geometry.euclidean.threed.Rotation r123 = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ, res[0], res[1], res[2]);
-
-
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D x_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(1,0,0);
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D y_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(0,1,0);
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D z_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(0,0,1);
-
-
- org.apache.commons.math3.geometry.euclidean.threed.Rotation r1 = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(x_3D,res[0]);
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D x_3D_p = r1.applyTo(x_3D);
- org.apache.commons.math3.geometry.euclidean.threed.Rotation r3 = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(z_3D,res[2]);
- org.apache.commons.math3.geometry.euclidean.threed.Rotation r13 = r3.applyTo(r1);
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D x_3D_pp = r13.applyTo(x_3D);
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D y_3D_pp = r13.applyTo(y_3D);
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D y_3D_pp_2 = r123.applyTo(y_3D);
- System.out.println("x_3D (" + x_3D.getX() + "," + x_3D.getY() + "," + x_3D.getZ());
- System.out.println("y_3D (" + y_3D.getX() + "," + y_3D.getY() + "," + y_3D.getZ());
- System.out.println("z_3D (" + z_3D.getX() + "," + z_3D.getY() + "," + z_3D.getZ());
- System.out.println("r1 " + r1.toString());
- printMatrix(r1.getMatrix());
- System.out.println("x_3D_p (" + x_3D_p.getX() + "," + x_3D_p.getY() + "," + x_3D_p.getZ());
- System.out.println("r3 " + r3.toString());
- printMatrix(r3.getMatrix());
- System.out.println("r13 " + r13.toString());
- printMatrix(r13.getMatrix());
- System.out.println("x_3D_pp (" + x_3D_pp.getX() + "," + x_3D_pp.getY() + "," + x_3D_pp.getZ());
- System.out.println("y_3D_pp (" + y_3D_pp.getX() + "," + y_3D_pp.getY() + "," + y_3D_pp.getZ());
- System.out.println("r123 " + r123.toString());
- printMatrix(r123.getMatrix());
- System.out.println("y_3D_pp_2 (" + y_3D_pp_2.getX() + "," + y_3D_pp_2.getY() + "," + y_3D_pp_2.getZ());
- System.out.println("------- ");
- }
- return euler;
- }
-
- public static Hep3Vector getActiveEulerAngles(Hep3Vector u, Hep3Vector v, Hep3Vector u_prime, Hep3Vector v_prime) {
- int debug = 0;
- if (debug>0) System.out.printf("getEulerAngles: u %s v%s -> %s %s\n",u.toString(),v.toString(),u_prime.toString(),v_prime.toString());
- // Convert to correct API
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D u_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(u.v());
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D v_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(v.v());
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D u_prime_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(u_prime.v());
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D v_prime_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(v_prime.v());
- //Create the rotation
- // Note that the constructor used here creates the rotation using active transformations
- org.apache.commons.math3.geometry.euclidean.threed.Rotation rot = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(u_3D,v_3D,u_prime_3D,v_prime_3D);
- // The the Cardan angles of the rotation
- double res[] = rot.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ);
- Hep3Vector euler = new BasicHep3Vector(res[0],res[1],res[2]);
-
- return euler;
- }
-
-
- public static double[][] getActiveEulerAnglesMatrix(Hep3Vector u, Hep3Vector v, Hep3Vector u_prime, Hep3Vector v_prime) {
- int debug = 0;
- if (debug>0) System.out.printf("getEulerAngles: u %s v%s -> %s %s\n",u.toString(),v.toString(),u_prime.toString(),v_prime.toString());
- // Convert to correct API
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D u_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(u.v());
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D v_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(v.v());
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D u_prime_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(u_prime.v());
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D v_prime_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(v_prime.v());
- //Create the rotation
- // Note that the constructor used here creates the rotation using active transformations
- org.apache.commons.math3.geometry.euclidean.threed.Rotation rot = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(u_3D,v_3D,u_prime_3D,v_prime_3D);
- // The the Cardan angles of the rotation
- // Since the rotation was created based on active transformations convert to passive right here.
- // This conversion is simply to reverse the order of rotations.
- return rot.getMatrix();
-
- }
-
-
-
-
-
- /**
- * Find the displacement of a point when rotating around an arbitrary position
- * @param origin_of_rotation
- * @param point
- * @param lcdd_rot_angles
- * @return
- */
- public static Hep3Vector getRotationDisplacement(Hep3Vector origin_of_rotation,
- Hep3Vector point, Hep3Vector lcdd_rot_angles) {
-
- // Find the vector from the center of rotation to the point
- Hep3Vector s = VecOp.sub(point, origin_of_rotation );
- //Apply the rotation to the vector
- RotationGeant r = new RotationGeant(lcdd_rot_angles.x(), lcdd_rot_angles.y(), lcdd_rot_angles.z());
- Hep3Vector s_prime = r.rotated(s);
- // Find the displaced point
- Hep3Vector point_rot = VecOp.add(origin_of_rotation, s_prime );
- /*
- if(_debug) {
- print("--- getRotationDisplacement---");
- print(String.format("point: %s", point.toString()));
- print(String.format("origin_of_rotation: %s", origin_of_rotation.toString()));
- print(String.format("s:\n%s", s.toString()));
- print(String.format("r:\n%s", r.toString()));
- print(String.format("s_prime:\n%s", s_prime.toString()));
- print(String.format("point_rot:\n%s", point_rot.toString()));
- print("--- getRotationDisplacement END---");
- }
- */
- return point_rot;
- }
-
-
-
-
-
private void makeBeamPlane(Volume motherVolume, Hep3Vector ball_pos_base_plate, Hep3Vector vee_pos_base_plate,Hep3Vector flat_pos_base_plate, LCDD lcdd, SensitiveDetector sens) throws JDOMException {
@@ -499,7 +344,7 @@
Position pos = new Position(volName + "_position",box_center_base.x(), box_center_base.y(), box_center_base.z()); //Find LCDD Euler rotation angles from coordinate system unit vectors
- Hep3Vector lcdd_rot_angles = getEulerAngles(beamplane_coord.v(), beamplane_coord.w(), new BasicHep3Vector(0,1,0),new BasicHep3Vector(0,0,1));
+ Hep3Vector lcdd_rot_angles = TransformationUtils.getCardanAngles(beamplane_coord.v(), beamplane_coord.w(), new BasicHep3Vector(0,1,0),new BasicHep3Vector(0,0,1));
Rotation rot = new Rotation(volName + "_rotation",lcdd_rot_angles.x(), lcdd_rot_angles.y(), lcdd_rot_angles.z()); lcdd.add(pos); lcdd.add(rot);
@@ -801,7 +646,7 @@
org.apache.commons.math3.geometry.euclidean.threed.Vector3D v_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(v.v()); org.apache.commons.math3.geometry.euclidean.threed.Vector3D w_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(w.v());
- Hep3Vector euler_angles = getEulerAngles(v_L1, w_L1, v, w);
+ Hep3Vector euler_angles = TransformationUtils.getCardanAngles(v_L1, w_L1, v, w);
//Get the generic rotation org.apache.commons.math3.geometry.euclidean.threed.Rotation r = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(v_3D_L1,w_3D_L1,v_3D, w_3D);
@@ -1242,7 +1087,7 @@
org.apache.commons.math3.geometry.euclidean.threed.Vector3D v_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(v.v()); org.apache.commons.math3.geometry.euclidean.threed.Vector3D w_3D = new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(w.v());
- Hep3Vector euler_angles = getEulerAngles(v_L1, w_L1, v, w);
+ Hep3Vector euler_angles = TransformationUtils.getCardanAngles(v_L1, w_L1, v, w);
//Get the generic rotation org.apache.commons.math3.geometry.euclidean.threed.Rotation r = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(v_3D_L1,w_3D_L1,v_3D, w_3D);
@@ -1669,7 +1514,7 @@
Hep3Vector v_L1 = new BasicHep3Vector(-1/Math.sqrt(2),0,1/Math.sqrt(2)); Hep3Vector w_L1 = new BasicHep3Vector(0,-1,0);
- Hep3Vector euler_angles = getEulerAngles(u_L1, v_L1, u, v);
+ Hep3Vector euler_angles = TransformationUtils.getCardanAngles(u_L1, v_L1, u, v);
@@ -1750,7 +1595,7 @@
Hep3Vector v_L1 = new BasicHep3Vector(0,0,1); Hep3Vector w_L1 = new BasicHep3Vector(0,-1,0);
- Hep3Vector euler_angles = getEulerAngles(u_L1, v_L1, u, v);
+ Hep3Vector euler_angles = TransformationUtils.getCardanAngles(u_L1, v_L1, u, v);
@@ -1833,7 +1678,7 @@
Hep3Vector v_L1 = new BasicHep3Vector(0,0,1); Hep3Vector w_L1 = new BasicHep3Vector(1/Math.sqrt(2),-1/Math.sqrt(2),0);
- Hep3Vector euler_angles = getEulerAngles(u_L1, v_L1, u, v);
+ Hep3Vector euler_angles = TransformationUtils.getCardanAngles(u_L1, v_L1, u, v);
--- projects/lcsim/trunk/detector-framework/src/main/java/org/lcsim/geometry/compact/converter/lcdd/HPSTestRunTracker2014GeometryDefinition.java 2014-09-27 20:47:23 UTC (rev 3350) +++ projects/lcsim/trunk/detector-framework/src/main/java/org/lcsim/geometry/compact/converter/lcdd/HPSTestRunTracker2014GeometryDefinition.java 2014-09-28 21:36:25 UTC (rev 3351) @@ -12,7 +12,6 @@
import org.lcsim.detector.Rotation3D; import org.lcsim.detector.Transform3D; import org.lcsim.detector.Translation3D;
-import org.lcsim.geometry.compact.converter.lcdd.util.Box;
import hep.physics.vec.BasicHep3Matrix; import hep.physics.vec.BasicHep3Vector;
@@ -319,14 +318,14 @@
private void calcAndSetFlatPos() {
if(HPSTestRunTracker2014GeometryDefinition.use30mradRotation) {
// find the rotation to place the flat point
- org.apache.commons.math3.geometry.euclidean.threed.Rotation rot1_csup = - new org.apache.commons.math3.geometry.euclidean.threed.Rotation( - new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(vee_pos_csup_pin_bottom_x-ball_pos_csup_pin_bottom_x,
+ Rotation rot1_csup = + new Rotation( + new Vector3D(vee_pos_csup_pin_bottom_x-ball_pos_csup_pin_bottom_x,
vee_pos_csup_pin_bottom_y-ball_pos_csup_pin_bottom_y, vee_pos_csup_pin_bottom_z-ball_pos_csup_pin_bottom_z),
- new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(1,0,0));
+ new Vector3D(1,0,0));
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D flat_pos_csup_pin_bottom_3D_rot = rot1_csup.applyTo(new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(0,10.0,0));
+ Vector3D flat_pos_csup_pin_bottom_3D_rot = rot1_csup.applyTo(new Vector3D(0,10.0,0));
// translate double flat_pos_csup_pin_bottom_x = ball_pos_csup_pin_bottom_x + flat_pos_csup_pin_bottom_3D_rot.getX(); double flat_pos_csup_pin_bottom_y = ball_pos_csup_pin_bottom_y + flat_pos_csup_pin_bottom_3D_rot.getY();
@@ -400,13 +399,13 @@
setBallPos(SupportBottom.ball_pos_csup_bearings_bottom_x, SupportBottom.ball_pos_csup_bearings_bottom_y, ball_pos_csup_bearings_top_z); setVeePos(SupportBottom.vee_pos_csup_bearings_bottom_x, SupportBottom.vee_pos_csup_bearings_bottom_y, ball_pos_csup_bearings_top_z); // build the rotation to find the proper location of the flat
- org.apache.commons.math3.geometry.euclidean.threed.Rotation rot_csup_top = - new org.apache.commons.math3.geometry.euclidean.threed.Rotation(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ,
+ Rotation rot_csup_top = + new Rotation(RotationOrder.XYZ,
SupportPlateTop.support_plate_top_tilt_angle, 0.0, 0.0 ); // apply to flat local position (as for bottom it is arbitrary offset)
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D flat_pos_csup_bearings_top_3D_rot = - rot_csup_top.applyTo(new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(0.0,10.0,0.0));
+ Vector3D flat_pos_csup_bearings_top_3D_rot = + rot_csup_top.applyTo(new Vector3D(0.0,10.0,0.0));
// translate the flat position final double flat_pos_csup_bearings_top_x = getBallPos().x() + flat_pos_csup_bearings_top_3D_rot.getX();
@@ -481,12 +480,12 @@
// it is referenced locally to the c-support pin coordinate system here // build the rotation to find the proper location of the flat
- org.apache.commons.math3.geometry.euclidean.threed.Rotation rot_csup = - new org.apache.commons.math3.geometry.euclidean.threed.Rotation(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ,
+ Rotation rot_csup = + new Rotation(RotationOrder.XYZ,
SupportPlateBottom.support_plate_bottom_tilt_angle, 0.0, 0.0 ); // apply to flat local position
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D flat_pos_csup_bearings_bottom_3D_rot = - rot_csup.applyTo(new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(0.0,10.0,0.0));
+ Vector3D flat_pos_csup_bearings_bottom_3D_rot = + rot_csup.applyTo(new Vector3D(0.0,10.0,0.0));
// translate final double flat_pos_csup_bearings_bottom_x = ball_pos_csup_bearings_bottom_x + flat_pos_csup_bearings_bottom_3D_rot.getX(); final double flat_pos_csup_bearings_bottom_y = ball_pos_csup_bearings_bottom_y + flat_pos_csup_bearings_bottom_3D_rot.getY();
@@ -675,9 +674,10 @@
public static class TestRunModuleL45 extends TestRunModule {
- protected static final double module_box_L45_length = 205.2; // includes lexan spacer and cold block - protected static final double module_box_L45_height = 12.5; // includes screws height - protected static final double module_box_L45_width = 65.3-12.0;
+ + protected static final double module_box_L45_length = 205.2 + box_extra_length; // includes lexan spacer and cold block + protected static final double module_box_L45_height = 12.5 + box_extra_height; // includes screws height + protected static final double module_box_L45_width = 65.3-12.0 + box_extra_width;
protected static final double dist_lower_sensor_edge_to_cold_block_mounting_surface = 7.662;
@@ -706,10 +706,9 @@
}
public static class TestRunModuleL13 extends TestRunModule {
- // module references - protected static final double module_box_L13_length = 205.2; // includes lexan spacer and cold block - protected static final double module_box_L13_height = 12.5; // includes screws height - protected static final double module_box_L13_width = 71.3 - 13.0; // height from cold block to encapsulate the whole module
+ protected static final double module_box_L13_length = 205.2 + box_extra_length; // includes lexan spacer and cold block + protected static final double module_box_L13_height = 12.5 + box_extra_height; // includes screws height + protected static final double module_box_L13_width = 71.3 - 13.0 + box_extra_width; // height from cold block to encapsulate the whole module
protected static final double dist_lower_sensor_edge_to_cold_block_mounting_surface = 12.66;
public TestRunModuleL13(String name, BaseGeometry mother, int layer, String half) {
@@ -720,7 +719,7 @@
}
protected double getColdBlockThickness() {
return TestRunColdBlockL13.coldblock_L13_thickness;
- }
+ }
protected double getModuleBoxLength() {
return module_box_L13_length;
}
@@ -737,6 +736,10 @@
public static abstract class TestRunModule extends BaseModule {
+ protected final static double box_extra_length = 10.0;// random at this point + protected final static double box_extra_width = 15.0;// random at this point + protected final static double box_extra_height = 2.0;// random at this point +
public TestRunModule(String name, BaseGeometry mother, int layer, String half) {
super(name, mother,layer,half);
init();
@@ -761,7 +764,7 @@
if(debug) System.out.printf("%s: rotation:\n%s\n",this.getClass().getSimpleName(), getCoord().getTransformation().getRotation().toString());
}
protected void setCenter() {
- setCenter(getModuleBoxLength()/2.0-5.0, 0.0, getModuleBoxWidth()/2.0);
+ setCenter(getModuleBoxLength()/2.0-5.0, 0.0, getModuleBoxWidth()/2.0-box_extra_width/5.0);
}
protected void setPos() {
@@ -1027,10 +1030,10 @@
public TestRunHalfModuleStereo(String name, BaseGeometry mother, int layer, String half) {
super(name, mother, layer, half);
- if(layer<=3) stereo_angle = 0.1; - else if(layer>=4&&layer<=5) stereo_angle = 0.05;
+ if(layer<=3) stereo_angle = -0.1; + else if(layer>=4&&layer<=5) stereo_angle = -0.05;
else throw new RuntimeException("Layer " + layer + " is not defined.");
- init();
+ init();
//setExplicitRotation(); }
@@ -1064,14 +1067,14 @@
private void calcAndSetPos() {
/*
// find the rotation to place the flat point
- org.apache.commons.math3.geometry.euclidean.threed.Rotation rot1_csup = - new org.apache.commons.math3.geometry.euclidean.threed.Rotation( - new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(vee_pos_csup_pin_bottom_x-ball_pos_csup_pin_bottom_x,
+ Rotation rot1_csup = + new Rotation( + new Vector3D(vee_pos_csup_pin_bottom_x-ball_pos_csup_pin_bottom_x,
vee_pos_csup_pin_bottom_y-ball_pos_csup_pin_bottom_y, vee_pos_csup_pin_bottom_z-ball_pos_csup_pin_bottom_z),
- new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(1,0,0));
+ new Vector3D(1,0,0));
- org.apache.commons.math3.geometry.euclidean.threed.Vector3D flat_pos_csup_pin_bottom_3D_rot = rot1_csup.applyTo(new org.apache.commons.math3.geometry.euclidean.threed.Vector3D(0,10.0,0));
+ Vector3D flat_pos_csup_pin_bottom_3D_rot = rot1_csup.applyTo(new Vector3D(0,10.0,0));
// translate double flat_pos_csup_pin_bottom_x = ball_pos_csup_pin_bottom_x + flat_pos_csup_pin_bottom_3D_rot.getX(); double flat_pos_csup_pin_bottom_y = ball_pos_csup_pin_bottom_y + flat_pos_csup_pin_bottom_3D_rot.getY();
@@ -1091,8 +1094,8 @@
} else {
stereo_angle = -0.05;
}
- org.apache.commons.math3.geometry.euclidean.threed.Rotation rot_stereo = new org.apache.commons.math3.geometry.euclidean.threed.Rotation(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ, Math.PI, stereo_angle,0); - double res[] = rot_stereo.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder.XYZ);
+ Rotation rot_stereo = new Rotation(RotationOrder.XYZ, Math.PI, stereo_angle,0); + double res[] = rot_stereo.getAngles(RotationOrder.XYZ);
explicit_rot_angles = new BasicHep3Vector(res); }
@@ -1104,11 +1107,18 @@
// Rotate these into the right place for the stereo
// My rotations here are active rotations in the mother coordinate system frame
- // flip around u
+ // Sloppy description of the frame + // u: direction along long edge of half module i.e. along strips + // v: normal to sensor plane + // w: perpendicular to the sensor + + // flip around u
Rotation r1 = new Rotation(new Vector3D(1,0,0),Math.PI);
- //Rotation r2 = new Rotation(new Vector3D(0,1,0),stereo_angle); - //Rotation r = r2.applyTo(r1); - Rotation r = r1;
+ // apply stereo angle around v + Rotation r2 = new Rotation(new Vector3D(0,1,0),stereo_angle); + // Build full rotation + Rotation r = r2.applyTo(r1); + //Rotation r = r1;
System.out.printf("%s: Coord before corrections\n%s\n", getClass().getSimpleName(),getCoord().toString());
System.out.printf("%s: box center before corrections\n%s\n", getClass().getSimpleName(),getBoxDim().toString());
getCoord().rotateApache(r);
--- projects/lcsim/trunk/detector-framework/src/main/java/org/lcsim/geometry/compact/converter/lcdd/HPSTrackerJavaBuilder.java 2014-09-27 20:47:23 UTC (rev 3350) +++ projects/lcsim/trunk/detector-framework/src/main/java/org/lcsim/geometry/compact/converter/lcdd/HPSTrackerJavaBuilder.java 2014-09-28 21:36:25 UTC (rev 3351) @@ -29,6 +29,7 @@
import org.lcsim.detector.tracker.silicon.SiTrackerModule; import org.lcsim.geometry.compact.Subdetector; import org.lcsim.geometry.compact.converter.lcdd.HPSTestRunTracker2014GeometryDefinition.BaseGeometry;
+import org.lcsim.geometry.util.TransformationUtils;
public abstract class HPSTrackerJavaBuilder implements IHPSTrackerJavaBuilder {
@@ -246,7 +247,7 @@
setName(geomObject.getName()); setVolume(vol); // since it's tracking volume, set the pos and rotation trivially
- Hep3Vector lcdd_rot_angles = HPSTestRunTracker2014.getEulerAngles(geomObject.getCoord().v(), geomObject.getCoord().w(), new BasicHep3Vector(0,1,0),new BasicHep3Vector(0,0,1));
+ Hep3Vector lcdd_rot_angles = TransformationUtils.getCardanAngles(geomObject.getCoord().v(), geomObject.getCoord().w(), new BasicHep3Vector(0,1,0),new BasicHep3Vector(0,0,1));
setPos(new Translation3D(0,0,0));
setRot(new RotationGeant(lcdd_rot_angles.x(), lcdd_rot_angles.y(), lcdd_rot_angles.z()));
if(isDebug()) System.out.printf("%s: DONE JavaBaseGeometry %s\n", this.getClass().getSimpleName(),geomObject.getName());
@@ -363,27 +364,9 @@
//Hep3Vector lcdd_rot_angles = HPSTestRunTracker2014.getEulerAngles(unit_u,unit_v,base.getCoord().u(), base.getCoord().v()); //Hep3Vector lcdd_rot_angles = HPSTestRunTracker2014.getEulerAngles(base.getCoord().u(), base.getCoord().v(), unit_u,unit_v);
- Hep3Vector lcdd_rot_angles_uv = HPSTestRunTracker2014.getEulerAngles(base_u, base_v, unit_u,unit_v);
- Hep3Vector lcdd_rot_angles_uw = HPSTestRunTracker2014.getEulerAngles(base_u, base_w, unit_u,unit_w);
- Hep3Vector lcdd_rot_angles_vw = HPSTestRunTracker2014.getEulerAngles(base_v, base_w, unit_v,unit_w);
- Hep3Vector lcdd_rot_angles = lcdd_rot_angles_uw;
- //Hep3Vector lcdd_rot_angles_active = HPSTestRunTracker2014.getActiveEulerAngles(base.getCoord().v(), base.getCoord().w(), unit_v,unit_w);
-// double rot_mat[][] = HPSTestRunTracker2014.getActiveEulerAnglesMatrix(base.getCoord().v(), base.getCoord().w(), unit_v,unit_w);
-// Rotation3D rot_xcheck = new Rotation3D();
-// BasicHep3Matrix rot_mat_hep = new BasicHep3Matrix();
-// for(int c=0;c<=2;++c) {
-// for(int r=0;r<=2;++r) {
-// rot_mat_hep.setElement(r, c, rot_xcheck.getComponent(r, c));
-// }
-// }
-// rot_xcheck.setRotationMatrix(rot_mat_hep);
-// if(isDebug()) {
-// System.out.printf("%s: xcheck active rotation matrix:\n", this.getClass().getSimpleName());
-// HPSTestRunTracker2014.printMatrix(rot_mat);
-// rot_xcheck.toString();
-// }
-//
- /*
+ Hep3Vector lcdd_rot_angles = TransformationUtils.getCardanAngles(base_u, base_v, base_w, unit_u, unit_v, unit_w); + + /*
// Check if there are explicit rotations built into the object itself which overrides // TODO this should be included in the definition of the coordinate system. Fix this for the affected components.
@@ -417,7 +400,6 @@
// Create the LCDD position setPos(new Translation3D(box_center.x(), box_center.y(), box_center.z())); setRot(new RotationGeant(lcdd_rot_angles.x(), lcdd_rot_angles.y(), lcdd_rot_angles.z()));
- //setRot(new Rotation3D(lcdd_rot_angles.x(), lcdd_rot_angles.y(), lcdd_rot_angles.z()));
if(isDebug()) {
@@ -427,10 +409,6 @@
System.out.printf("%s: box_center %s\n", this.getClass().getSimpleName(), box_center.toString());
System.out.printf("%s: pos %s\n", this.getClass().getSimpleName(), getPos().toString());
System.out.printf("%s: euler %s\n", this.getClass().getSimpleName(), lcdd_rot_angles.toString());
- System.out.printf("%s: euler (uv) %s\n", this.getClass().getSimpleName(), lcdd_rot_angles_uv.toString());
- System.out.printf("%s: euler (uw) %s\n", this.getClass().getSimpleName(), lcdd_rot_angles_uw.toString());
- System.out.printf("%s: euler (vw) %s\n", this.getClass().getSimpleName(), lcdd_rot_angles_vw.toString());
- //System.out.printf("%s: euler (active) %s\n", this.getClass().getSimpleName(), lcdd_rot_angles_active.toString());
System.out.printf("%s: rot %s\n", this.getClass().getSimpleName(), getRot().toString());
//calculate the position in tracking volume separately as a xcheck
--- projects/lcsim/trunk/detector-framework/src/main/java/org/lcsim/geometry/compact/converter/lcdd/HPSTrackerLCDDBuilder.java 2014-09-27 20:47:23 UTC (rev 3350) +++ projects/lcsim/trunk/detector-framework/src/main/java/org/lcsim/geometry/compact/converter/lcdd/HPSTrackerLCDDBuilder.java 2014-09-28 21:36:25 UTC (rev 3351) @@ -19,6 +19,7 @@
import org.lcsim.geometry.compact.converter.lcdd.util.Rotation; import org.lcsim.geometry.compact.converter.lcdd.util.SensitiveDetector; import org.lcsim.geometry.compact.converter.lcdd.util.Volume;
+import org.lcsim.geometry.util.TransformationUtils;
public abstract class HPSTrackerLCDDBuilder implements IHPSTrackerLCDDBuilder {
@@ -93,7 +94,7 @@
setName(base.getName());
setVolume(volume);
if(isDebug()) System.out.printf("%s: DONE constructing LCDD object %s\n", this.getClass().getSimpleName(),base.getName());
- Hep3Vector lcdd_rot_angles = HPSTestRunTracker2014.getEulerAngles(base.getCoord().v(), base.getCoord().w(), new BasicHep3Vector(0,1,0),new BasicHep3Vector(0,0,1));
+ Hep3Vector lcdd_rot_angles = TransformationUtils.getCardanAngles(base.getCoord().v(), base.getCoord().w(), new BasicHep3Vector(0,1,0),new BasicHep3Vector(0,0,1));
setPos(new Position(getName() + "_position", 0, 0, 0));
setRot(new Rotation(getName() + "_rotation",lcdd_rot_angles.x(), lcdd_rot_angles.y(), lcdd_rot_angles.z()));
if(isDebug()) System.out.printf("%s: DONE JavaBaseGeometry %s\n", this.getClass().getSimpleName(),base.getName());
@@ -208,12 +209,7 @@
unit_u.toString(),unit_v.toString(),unit_w.toString());
//System.out.printf("%s: unit vectors u %s v %s w %s\n", this.getClass().getSimpleName(),base.getCoord().u().toString(),base.getCoord().v().toString(),base.getCoord().w().toString());
}
- //Hep3Vector lcdd_rot_angles = HPSTestRunTracker2014.getEulerAngles(unit_u,unit_v,base.getCoord().u(), base.getCoord().v()); - //Hep3Vector lcdd_rot_angles = HPSTestRunTracker2014.getEulerAngles(base.getCoord().u(), base.getCoord().v(), unit_u,unit_v); - Hep3Vector lcdd_rot_angles_uv = HPSTestRunTracker2014.getEulerAngles(base_u, base_v, unit_u,unit_v); - Hep3Vector lcdd_rot_angles_uw = HPSTestRunTracker2014.getEulerAngles(base_u, base_w, unit_u,unit_w); - Hep3Vector lcdd_rot_angles_vw = HPSTestRunTracker2014.getEulerAngles(base_v, base_w, unit_v,unit_w); - Hep3Vector lcdd_rot_angles = lcdd_rot_angles_uw;
+ Hep3Vector lcdd_rot_angles = TransformationUtils.getCardanAngles(base_u, base_v, base_w, unit_u, unit_v, unit_w);
// Check if there are explicit rotations built into the object itself which overrides // TODO this should be included in the definition of the coordinate system. Fix this for the affected components.
@@ -245,9 +241,6 @@
System.out.printf("%s: box_center %s\n", this.getClass().getSimpleName(), box_center.toString());
System.out.printf("%s: pos %s\n", this.getClass().getSimpleName(), getPos().toString());
System.out.printf("%s: euler %s\n", this.getClass().getSimpleName(), lcdd_rot_angles.toString());
- System.out.printf("%s: euler (uv) %s\n", this.getClass().getSimpleName(), lcdd_rot_angles_uv.toString());
- System.out.printf("%s: euler (uw) %s\n", this.getClass().getSimpleName(), lcdd_rot_angles_uw.toString());
- System.out.printf("%s: euler (vw) %s\n", this.getClass().getSimpleName(), lcdd_rot_angles_vw.toString());
System.out.printf("%s: rot %s\n", this.getClass().getSimpleName(), getRot().toString());
//calculate the position in tracking volume separately as a xcheck
--- projects/lcsim/trunk/detector-framework/src/main/java/org/lcsim/geometry/util/TransformationUtils.java (rev 0) +++ projects/lcsim/trunk/detector-framework/src/main/java/org/lcsim/geometry/util/TransformationUtils.java 2014-09-28 21:36:25 UTC (rev 3351) @@ -0,0 +1,177 @@
+package org.lcsim.geometry.util;
+
+import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder;
+import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
+import org.lcsim.detector.RotationGeant;
+
+import hep.physics.vec.BasicHep3Vector;
+import hep.physics.vec.Hep3Vector;
+import hep.physics.vec.VecOp;
+
+public class TransformationUtils {
+
+ /**
+ * Extract the Cardan angles that describe a passive XYZ order rotation taking two unit vectors into two new ones.
+ * @param u - input unit vector
+ * @param v - input unit vector
+ * @param u_prime - result of rotation applied to @param u
+ * @param v_prime - result of rotation applied to @param v
+ * @return
+ */
+ public static Hep3Vector getCardanAngles(Hep3Vector u, Hep3Vector v, Hep3Vector u_prime, Hep3Vector v_prime) {
+ int debug = 0;
+ if (debug>0) System.out.printf("getEulerAngles: u %s v%s -> %s %s\n",u.toString(),v.toString(),u_prime.toString(),v_prime.toString());
+ // Convert to correct API
+ Vector3D u_3D = new Vector3D(u.v());
+ Vector3D v_3D = new Vector3D(v.v());
+ Vector3D u_prime_3D = new Vector3D(u_prime.v());
+ Vector3D v_prime_3D = new Vector3D(v_prime.v());
+
+ //Create the rotation
+ // Note that the constructor used here creates the rotation using active transformations
+ Rotation rot = new Rotation(u_3D,v_3D,u_prime_3D,v_prime_3D);
+
+ // Get the Cardan angles of the rotation
+ double res[] = rot.getAngles(RotationOrder.ZYX);
+
+ // Since the rotation was created based on active transformations convert to passive right here.
+ // This conversion is simply to reverse the order of rotations.
+ Hep3Vector euler = new BasicHep3Vector(res[2],res[1],res[0]);
+
+ if(debug>0) {
+ System.out.println("Input: u " + u_3D.toString() + " v " + v_3D.toString() + " u' " + u_prime_3D.toString() + " v' " + v_prime_3D.toString());
+ System.out.println("rot matrix:");
+ TransformationUtils.printMatrix(rot.getMatrix());
+ System.out.println("Resulting XYZ angles " + euler.toString());
+ }
+
+ if(debug>1) {
+ System.out.println("------- TESTING ");
+
+ Rotation r123 = new Rotation(RotationOrder.XYZ, res[0], res[1], res[2]);
+
+
+ Vector3D x_3D = new Vector3D(1,0,0);
+ Vector3D y_3D = new Vector3D(0,1,0);
+ Vector3D z_3D = new Vector3D(0,0,1);
+
+
+ Rotation r1 = new Rotation(x_3D,res[0]);
+ Vector3D x_3D_p = r1.applyTo(x_3D);
+ Rotation r3 = new Rotation(z_3D,res[2]);
+ Rotation r13 = r3.applyTo(r1);
+ Vector3D x_3D_pp = r13.applyTo(x_3D);
+ Vector3D y_3D_pp = r13.applyTo(y_3D);
+ Vector3D y_3D_pp_2 = r123.applyTo(y_3D);
+ System.out.println("x_3D (" + x_3D.getX() + "," + x_3D.getY() + "," + x_3D.getZ());
+ System.out.println("y_3D (" + y_3D.getX() + "," + y_3D.getY() + "," + y_3D.getZ());
+ System.out.println("z_3D (" + z_3D.getX() + "," + z_3D.getY() + "," + z_3D.getZ());
+ System.out.println("r1 " + r1.toString());
+ TransformationUtils.printMatrix(r1.getMatrix());
+ System.out.println("x_3D_p (" + x_3D_p.getX() + "," + x_3D_p.getY() + "," + x_3D_p.getZ());
+ System.out.println("r3 " + r3.toString());
+ TransformationUtils.printMatrix(r3.getMatrix());
+ System.out.println("r13 " + r13.toString());
+ TransformationUtils.printMatrix(r13.getMatrix());
+ System.out.println("x_3D_pp (" + x_3D_pp.getX() + "," + x_3D_pp.getY() + "," + x_3D_pp.getZ());
+ System.out.println("y_3D_pp (" + y_3D_pp.getX() + "," + y_3D_pp.getY() + "," + y_3D_pp.getZ());
+ System.out.println("r123 " + r123.toString());
+ TransformationUtils.printMatrix(r123.getMatrix());
+ System.out.println("y_3D_pp_2 (" + y_3D_pp_2.getX() + "," + y_3D_pp_2.getY() + "," + y_3D_pp_2.getZ());
+ System.out.println("------- ");
+ }
+ return euler;
+ }
+
+ public static boolean areVectorsEqual(Hep3Vector a, Hep3Vector b, double thresh) {
+ return VecOp.cross(a, b).magnitude() > thresh ? false : true;
+ }
+
+ /**
+ * Extract the Cardan angles that describe a passive XYZ order rotation taking a set of three unit vectors into three new one.
+ * @param u - input unit vector
+ * @param v - input unit vector
+ * @param w - input unit vector
+ * @param u_prime - result of rotation applied to @param u
+ * @param v_prime - result of rotation applied to @param v
+ * @param w_prime - result of rotation applied to @param w
+ * @return
+ */
+ public static Hep3Vector getCardanAngles(Hep3Vector u, Hep3Vector v, Hep3Vector w,
+ Hep3Vector u_prime, Hep3Vector v_prime, Hep3Vector w_prime) {
+
+ Hep3Vector a1 = getCardanAngles(u, v, u_prime, v_prime);
+ Hep3Vector a2 = getCardanAngles(u, w, u_prime, w_prime);
+ Hep3Vector a3 = getCardanAngles(v, w, v_prime, w_prime);
+ if( !areVectorsEqual(a1, a2, 0.00001) || !areVectorsEqual(a1, a3, 0.00001) || !areVectorsEqual(a2, a3, 0.00001)) {
+ System.out.printf("u: %s -> %s \n", u.toString(), u_prime.toString());
+ System.out.printf("v: %s -> %s \n", v.toString(), v_prime.toString());
+ System.out.printf("w: %s -> %s \n", w.toString(), w_prime.toString());
+ System.out.printf("a1: %s \n", a1.toString());
+ System.out.printf("a2: %s \n", a1.toString());
+ System.out.printf("a3: %s \n", a1.toString());
+ System.out.printf("a1 a2: %f \n", Math.abs(VecOp.dot(a1, a2)-1));
+ System.out.printf("a1 a3: %f \n", Math.abs(VecOp.dot(a1, a3)-1));
+ System.out.printf("a2 a3: %f \n", Math.abs(VecOp.dot(a2, a3)-1));
+
+ throw new RuntimeException("Cardan angles extracted for transformation depend on input unit vectors:");
+ }
+ return a1;
+ }
+
+
+ /**
+ * Print matrix to stdout.
+ * @param mat
+ */
+ public static void printMatrix(double [][] mat) {
+ for(int r=0;r<3;++r) {
+ String row = "";
+ for(int c=0;c<3;++c) {
+ row += String.format(" %f",mat[r][c]);
+ }
+ System.out.println(row);
+ }
+ }
+
+
+
+
+ /**
+ * Find the displacement of a point when rotating around an arbitrary position.
+ * @param originOfRotation
+ * @param point to rotate
+ * @param rotationAngles - Cardan angles describing a passive XYZ order rotation
+ * @return point after rotation
+ */
+ public static Hep3Vector getRotationDisplacement(Hep3Vector originOfRotation,
+ Hep3Vector point, Hep3Vector rotationAngles) {
+ boolean _debug = false;
+
+ // Find the vector from the center of rotation to the point
+ Hep3Vector s = VecOp.sub(point, originOfRotation );
+ // Build a rotataion object
+ RotationGeant r = new RotationGeant(rotationAngles.x(), rotationAngles.y(), rotationAngles.z());
+ // Apply the rotation to the vector
+ Hep3Vector s_prime = r.rotated(s);
+ // Find the displaced point
+ Hep3Vector point_rot = VecOp.add(originOfRotation, s_prime );
+
+ if(_debug) {
+ System.out.println("--- getRotationDisplacement---");
+ System.out.println(String.format("point: %s", point.toString()));
+ System.out.println(String.format("origin_of_rotation: %s", originOfRotation.toString()));
+ System.out.println(String.format("s:\n%s", s.toString()));
+ System.out.println(String.format("r:\n%s", r.toString()));
+ System.out.println(String.format("s_prime:\n%s", s_prime.toString()));
+ System.out.println(String.format("point_rot:\n%s", point_rot.toString()));
+ System.out.println("--- getRotationDisplacement END---");
+ }
+
+ return point_rot;
+ }
+
+
+
+}
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