Surfaces/detail/AlignmentHelper.hpp

0001 // This file is part of the ACTS project.
0002 //
0003 // Copyright (C) 2016 CERN for the benefit of the ACTS project
0004 //
0005 // This Source Code Form is subject to the terms of the Mozilla Public
0006 // License, v. 2.0. If a copy of the MPL was not distributed with this
0007 // file, You can obtain one at https://mozilla.org/MPL/2.0/.
0008
0009 #pragma once
0010
0011 #include "Acts/Definitions/Algebra.hpp"
0012
0013 #include <tuple>
0014
0015 namespace Acts::detail {
0016
0017 // The container for derivative of local frame axis w.r.t. its
0018 // rotation parameters. The first element is for x axis, second for y axis and
0019 // last for z axis
0020 using RotationToAxes =
0021     std::tuple<RotationMatrix3, RotationMatrix3, RotationMatrix3>;
0022
0023 /// @brief Evaluate the derivative of local frame axes vector w.r.t.
0024 /// its rotation around local x/y/z axis
0025 /// @Todo: add parameter for rotation axis order
0026 ///
0027 /// @param compositeRotation The rotation that help places the composite object being rotated
0028 /// @param relRotation The relative rotation of the surface with respect to the composite object being rotated
0029 ///
0030 /// @return Derivative of local frame x/y/z axis vector w.r.t. its
0031 /// rotation angles (extrinsic Euler angles) around local x/y/z axis
0032 RotationToAxes rotationToLocalAxesDerivative(
0033     const RotationMatrix3& compositeRotation,
0034     const RotationMatrix3& relRotation = RotationMatrix3::Identity());
0035
0036 }  // namespace Acts::detail