CartesianCoordinateSystem.h

#ifndef CARTESIANCOORDINATESYSTEM_h
#define CARTESIANCOORDINATESYSTEM_h

#include "ICoordinateSystem.h"
#include "CLHEP/Vector/Rotation.h"


namespace gear{
  
  class CartesianCoordinateSystem : public ICoordinateSystem{
    
    
  public:
    
    CartesianCoordinateSystem( CLHEP::Hep3Vector T , CLHEP::HepRotation R ): _T(T), _R(R) {
    
      _R_inv = _R.inverse();
      
    }
    
    virtual CLHEP::Hep3Vector getLocalPoint( CLHEP::Hep3Vector globalPoint ) const;
    
    virtual CLHEP::Hep3Vector getGlobalPoint( CLHEP::Hep3Vector localPoint ) const;
    
    virtual CLHEP::Hep3Vector const* getOrigin() const { return &_T; } 
    
    CLHEP::HepRotation const* getR() const { return &_R;}
    
    CLHEP::Hep3Vector getLocalXAxis(){ return _R * CLHEP::Hep3Vector(1,0,0); }
    CLHEP::Hep3Vector getLocalYAxis(){ return _R * CLHEP::Hep3Vector(0,1,0); }
    CLHEP::Hep3Vector getLocalZAxis(){ return _R * CLHEP::Hep3Vector(0,0,1); }
    
  private:
    
    CLHEP::Hep3Vector _T{};
    
    CLHEP::HepRotation _R{};
    CLHEP::HepRotation _R_inv{};
  };
  
} // end of gear namespace

#endif