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mocchiut |
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#include <iostream> |
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#include <stdio.h> |
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#include <TObject.h> |
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#include <TString.h> |
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#include <TMatrixD.h> |
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#include <OrientationInfo.h> |
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ClassImp(OrientationInfo) |
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using namespace std; |
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OrientationInfo::OrientationInfo() : TObject(){ |
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a = 360/(2*TMath::Pi()); |
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Re = 6000000; |
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} |
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OrientationInfo::~OrientationInfo(){ |
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} |
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TMatrixD OrientationInfo::QuatoECI(Float_t q0, Float_t q1, Float_t q2, Float_t q3){ |
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TMatrixD Pij(3,3); |
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Pij(0,0) = pow(q0,2)+pow(q1,2)-pow(q2,2)-pow(q3,2); |
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Pij(0,1) = /*2*(q1*q2+q0*q3);/*/ 2*(q1*q2-q0*q3); |
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Pij(0,2) = /*2*(q1*q3-q0*q2);/*/ 2*(q1*q3+q0*q2); |
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Pij(1,0) = /*2*(q1*q2-q0*q3);/*/ 2*(q1*q2+q0*q3); |
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Pij(1,1) = pow(q0,2)-pow(q1,2)+pow(q2,2)-pow(q3,2); |
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Pij(1,2) = /*2*(q2*q3+q0*q1);/*/ 2*(q2*q3-q0*q1); |
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Pij(2,0) = /*2*(q1*q3+q0*q2);/*/ 2*(q1*q3-q0*q2); |
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Pij(2,1) = /*2*(q2*q3-q0*q1);/*/ 2*(q2*q3+q0*q1); |
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Pij(2,2) = pow(q0,2)-pow(q1,2)-pow(q2,2)+pow(q3,2); |
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return Pij; |
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} |
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TMatrixD OrientationInfo::ECItoGreenwich(TMatrixD Aij, UInt_t t){ |
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//t=1154304000+86400*365; |
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TMatrixD Gij(3,3); |
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Double_t omg = (7.292115e-5)*a; // Earth rotation velosity (Around polar axis); |
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//Double_t t1 = 0; |
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//if(t<=1158883200) t1 = 1127347200+229.2732; //absTime at 22/09/2005 + diference between Solar midnight and Greenwich sidereal midnight |
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//if(t>1158883200&&t<=1190419200) t1 = 1158883200+172.3415;//absTime at 22/09/2006 + diference between Solar midnight and Greenwich sidereal midnight |
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//if(t>=1190419200&&t<1222041600) t1 = 1190419200+115.39; //absTime at 22/09/2007 + diference between Solar midnight and Greenwich sidereal midnight |
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//if(t>=1222041600) t1 = 1222041600 + 294.9361; //absTime at 22/09/2008 + diference between Solar midnight and Greenwich sidereal midnight |
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//UInt_t Nd = (t-t1)/86400; |
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//Int_t DifSuSt = Nd*236.55; |
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Double_t d = (t-10957*86400-43200); //Number of day, passing from 01/01/2000 12:00:00 to t; |
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d = d/86400; |
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//d = t-da*86400+DifSuSt |
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//cout<<"t = "<<t<<"\n"; |
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//cout<<"t - 2000y = "<<t-10957*86400-43200<<"\n"; |
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//cout<<"d = "<<d<<"\n"; |
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//Int_t tl = t%86400; //!!!!!!!!!!!!!!!!!!!!!!!! |
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Double_t T = d/36525; //Number of Julian centuries; |
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//Double_t tl = t-t1-Nd*86400-DifSuSt; |
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Double_t Se = 6*3600+41*60+236.555367908*d+0.093104*pow(T,2)-(6.2e-6)*pow(T,3); |
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//cout<<"Se = "<<Se<<"\n"; |
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//cout<<t<<endl<<d<<endl<<tl<<endl<<Se+omg*tl*86400/360<<endl; |
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Int_t tr = (t-10957*86400)%86400; |
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//cout<<"tr = "<<tr<<endl; |
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Double_t Somg = (Se+49.077+omg*86400*tr/360)*360/86400; |
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//cout<<"t1 = "<<(t-10957*86400)%86400<<"\n"; |
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//cout<<"tr = "<<tr<<"\n"; |
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//cout<<"Somg = "<<Se+omg*86400*tr/360<<"\n"; |
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//cout<<"Somg = "<<((Somg-360*6)*86400/360/3600-20)*60<<"\n"; |
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//cout<<cos(Somg/a)<<endl; |
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Gij(0,0) = cos(Somg/a); |
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Gij(0,1) = -sin(Somg/a); |
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Gij(0,2) = 0; |
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Gij(1,0) = sin(Somg/a); |
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Gij(1,1) = cos(Somg/a); |
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Gij(1,2) = 0; |
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Gij(2,0) = 0; |
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Gij(2,1) = 0; |
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Gij(2,2) = 1; |
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Gij.Invert(); |
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//SetDirAxisGreenwich(Aij); |
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//cout<<(Somg/a)<<endl<<Aij(0,0)<<" "<<Aij(1,0)<<" "<<Aij(2,0)<<endl; |
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return Gij*Aij; |
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} |
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TMatrixD OrientationInfo::GreenwichtoGEO(Double_t lat, Double_t lon, TMatrixD Aij){ |
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//Double_t a = 360/(2*TMath::Pi()); |
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//Double_t Re = 6000000; |
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TMatrixD Gij(3,3); |
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TMatrixD Fij(3,3); |
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TMatrixD Hij(3,3); //TEST |
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TMatrixD Iij(3,3); //TEST |
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// if((lat<0.1)&&(lat>-0.1)){ |
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//cout<<"lon = "<<lon<<" lat = "<<lat<<endl; |
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lon=(-lon)/a; lat=(-lat)/a; |
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//cout<<"lon = "<<lon<<" lat = "<<lat<<endl; |
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// |
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// cout<<"Quaternions Array"<<endl; |
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//cout<<Aij(0,0)<<" "<<Aij(0,1)<<" "<<Aij(0,2)<<endl; |
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//cout<<Aij(1,0)<<" "<<Aij(1,1)<<" "<<Aij(1,2)<<endl; |
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//cout<<Aij(2,0)<<" "<<Aij(2,1)<<" "<<Aij(2,2)<<endl<<endl; |
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// } |
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//Double_t x0 = (alt+Re)*sin(lat)*sin(lon); |
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//Double_t y0 = (alt+Re)*sin(lat)*cos(lon); |
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//Double_t Sa = lon-a*atan(y0/x0); |
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//if (y0>0&&x0<0) Sa=-Sa+90; |
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//if (y0<0&&x0<0) Sa=Sa-90; |
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//if (y0>0&&x0==0) Sa=90; |
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//if (y0<0&&x0==0) Sa=-90; |
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Gij(0,0) = cos(lon); |
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Gij(0,1) = -sin(lon); |
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Gij(0,2) = 0; |
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Gij(1,0) = sin(lon); |
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Gij(1,1) = cos(lon); |
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Gij(1,2) = 0; |
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Gij(2,0) = 0; |
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Gij(2,1) = 0; |
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Gij(2,2) = 1; |
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//cout<<"First rotation"<<endl; |
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//cout<<Gij(0,0)<<" "<<Gij(0,1)<<" "<<Gij(0,2)<<endl; |
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//cout<<Gij(1,0)<<" "<<Gij(1,1)<<" "<<Gij(1,2)<<endl; |
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//cout<<Gij(2,0)<<" "<<Gij(2,1)<<" "<<Gij(2,2)<<endl<<endl; |
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//Gij.Invert(); |
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Fij(0,0) = cos(lat); |
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Fij(0,1) = 0; |
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Fij(0,2) = -sin(lat); |
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Fij(1,0) = 0; |
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Fij(1,1) = 1; |
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Fij(1,2) = 0; |
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Fij(2,0) = sin(lat); |
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Fij(2,1) = 0; |
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Fij(2,2) = cos(lat); |
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//Fij.Invert(); |
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//if((lat<0.1)&&(lat>-0.1)){ |
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/* Hij=Gij*Aij; //TEST |
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cout<<"First rotation"<<endl; |
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cout<<Hij(0,0)<<" "<<Hij(0,1)<<" "<<Hij(0,2)<<endl; |
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cout<<Hij(1,0)<<" "<<Hij(1,1)<<" "<<Hij(1,2)<<endl; |
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cout<<Hij(2,0)<<" "<<Hij(2,1)<<" "<<Hij(2,2)<<endl<<endl; |
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Iij = Fij*(Gij*Aij); //TEST |
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cout<<"Second rotation"<<endl; |
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cout<<Iij(0,0)<<" "<<Iij(0,1)<<" "<<Iij(0,2)<<endl; |
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cout<<Iij(1,0)<<" "<<Iij(1,1)<<" "<<Iij(1,2)<<endl; |
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cout<<Iij(2,0)<<" "<<Iij(2,1)<<" "<<Iij(2,2)<<endl; |
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// |
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Int_t ret; |
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cin>>ret;*/ |
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// } |
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return Fij*(Gij*Aij); |
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} |
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TMatrixD OrientationInfo::PamelatoGEO(TMatrixD Aij, Double_t B1, Double_t B2, Double_t B3){ |
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//TMatrixD Gij(3,3); |
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TMatrixD Hij(3,1); |
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TMatrixD Bij(3,1); |
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Bij(0,0) = B1; |
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Bij(1,0) = B2; |
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Bij(2,0) = B3; |
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//Double_t alfa = TMath::ASin(sqrt(1/((Aij(1,2))/Aij(0,2)+1))) * TMath::RadToDeg(); |
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//Gij(0,0) = cos(alfa/a); |
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//Gij(0,1) = -sin(alfa/a); |
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//Gij(0,2) = 0; |
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//Gij(1,0) = 0; |
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//Gij(1,1) = 1; |
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//Gij(1,2) = 0; |
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//Gij(2,0) = sin(alfa/a); |
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//Gij(2,1) = cos(alfa/a); |
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//Gij(2,2) = 0; |
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Hij=Aij*Bij; |
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return Hij; |
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//cout<<0.25-Aij(2,2)/(Aij(2,1)*Aij(2,0))<<endl; |
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//cout<<Hij(0,0)<<endl;//" "<<Hij(0,1)<<" "<<Hij(0,2)<<endl; |
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//cout<<Hij(1,0)<<endl;//" "<<Hij(1,1)<<" "<<Hij(1,2)<<endl; |
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//cout<<Hij(2,0)<<endl;//" "<<Hij(2,1)<<" "<<Hij(2,2)<<endl; |
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} |
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TMatrixD OrientationInfo::ColPermutation(TMatrixD Aij){ |
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TMatrixD Gij(3,3); |
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Gij(0,0) = 1; Gij(0,1) = 0; Gij(0,2) = 0; |
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Gij(1,0) = 0; Gij(1,1) = 0; Gij(1,2) = 1; |
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Gij(2,0) = 0; Gij(2,1) = -1; Gij(2,2) = 0; |
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return Aij*Gij; |
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} |
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Double_t OrientationInfo::GetPitchAngle(Double_t x1, Double_t y1, Double_t z1, Double_t x2, Double_t y2, Double_t z2){ |
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return TMath::ACos((x1*x2 + y1*y2 + z1*z2)/(sqrt(pow(x1,2)+pow(y1,2)+pow(z1,2))*sqrt(pow(x2,2)+pow(y2,2)+pow(z2,2)))) * TMath::RadToDeg(); |
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} |
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