/// Private function to recalculate the rotation matrix of the goniometer
void Goniometer::recalculateR() {
std::vector<GoniometerAxis>::iterator it;
std::vector<double> elements;
Quat QGlobal, QCurrent;
for (it = motors.begin(); it < motors.end(); ++it) {
double ang = (*it).angle * (*it).sense;
if ((*it).angleunit == angRadians)
ang *= rad2deg;
QCurrent = Quat(ang, (*it).rotationaxis);
QGlobal *= QCurrent;
}
elements = QGlobal.getRotation();
R = DblMatrix(elements);
}
/** Return Euler angles acording to a convention
* @param convention :: the convention used to calculate Euler Angles. The
* UniversalGoniometer is YZY, a triple axis goniometer at HFIR is YZX
*/
std::vector<double> Goniometer::getEulerAngles(std::string convention) {
return Quat(getR()).getEulerAngles(convention);
}