org.apache.commons.math.geometry

Class RotationOrder

java.lang.Object

org.apache.commons.math.geometry.RotationOrder

public final class RotationOrder
extends java.lang.Object

This class is a utility representing a rotation order specification for Cardan or Euler angles specification. This class cannot be instanciated by the user. He can only use one of the twelve predefined supported orders as an argument to either the Rotation(RotationOrder,double,double,double) constructor or the Rotation.getAngles(org.apache.commons.math.geometry.RotationOrder) method.

Since:

1.2

Version:

$Revision: 811827 $ $Date: 2009-09-06 17:32:50 +0200 (dim. 06 sept. 2009) $

Field Summary

Fields

Modifier and Type	Field and Description
private Vector3D	a1 Axis of the first rotation.
private Vector3D	a2 Axis of the second rotation.
private Vector3D	a3 Axis of the third rotation.
private java.lang.String	name Name of the rotations order.
static RotationOrder	XYX Set of Euler angles.
static RotationOrder	XYZ Set of Cardan angles.
static RotationOrder	XZX Set of Euler angles.
static RotationOrder	XZY Set of Cardan angles.
static RotationOrder	YXY Set of Euler angles.
static RotationOrder	YXZ Set of Cardan angles.
static RotationOrder	YZX Set of Cardan angles.
static RotationOrder	YZY Set of Euler angles.
static RotationOrder	ZXY Set of Cardan angles.
static RotationOrder	ZXZ Set of Euler angles.
static RotationOrder	ZYX Set of Cardan angles.
static RotationOrder	ZYZ Set of Euler angles.

Constructor Summary

Constructors

Modifier	Constructor and Description
private	RotationOrder(java.lang.String name, Vector3D a1, Vector3D a2, Vector3D a3) Private constructor.

Method Summary

Modifier and Type	Method and Description
Vector3D	getA1() Get the axis of the first rotation.
Vector3D	getA2() Get the axis of the second rotation.
Vector3D	getA3() Get the axis of the second rotation.
java.lang.String	toString() Get a string representation of the instance.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

XYZ

public static final RotationOrder XYZ

Set of Cardan angles. this ordered set of rotations is around X, then around Y, then around Z

XZY

public static final RotationOrder XZY

Set of Cardan angles. this ordered set of rotations is around X, then around Z, then around Y

YXZ

public static final RotationOrder YXZ

Set of Cardan angles. this ordered set of rotations is around Y, then around X, then around Z

YZX

public static final RotationOrder YZX

Set of Cardan angles. this ordered set of rotations is around Y, then around Z, then around X

ZXY

public static final RotationOrder ZXY

Set of Cardan angles. this ordered set of rotations is around Z, then around X, then around Y

ZYX

public static final RotationOrder ZYX

Set of Cardan angles. this ordered set of rotations is around Z, then around Y, then around X

XYX

public static final RotationOrder XYX

Set of Euler angles. this ordered set of rotations is around X, then around Y, then around X

XZX

public static final RotationOrder XZX

Set of Euler angles. this ordered set of rotations is around X, then around Z, then around X

YXY

public static final RotationOrder YXY

Set of Euler angles. this ordered set of rotations is around Y, then around X, then around Y

YZY

public static final RotationOrder YZY

Set of Euler angles. this ordered set of rotations is around Y, then around Z, then around Y

ZXZ

public static final RotationOrder ZXZ

Set of Euler angles. this ordered set of rotations is around Z, then around X, then around Z

ZYZ

public static final RotationOrder ZYZ

Set of Euler angles. this ordered set of rotations is around Z, then around Y, then around Z

name

private final java.lang.String name

Name of the rotations order.

a1

private final Vector3D a1

Axis of the first rotation.

a2

private final Vector3D a2

Axis of the second rotation.

a3

private final Vector3D a3

Axis of the third rotation.

Constructor Detail

RotationOrder

private RotationOrder(java.lang.String name,
                      Vector3D a1,
                      Vector3D a2,
                      Vector3D a3)

Private constructor. This is a utility class that cannot be instantiated by the user, so its only constructor is private.

Parameters:

name - name of the rotation order

a1 - axis of the first rotation

a2 - axis of the second rotation

a3 - axis of the third rotation

Method Detail

toString

public java.lang.String toString()

Get a string representation of the instance.

Overrides:

toString in class java.lang.Object

Returns:

a string representation of the instance (in fact, its name)

getA1

public Vector3D getA1()

Get the axis of the first rotation.

Returns:

axis of the first rotation

getA2

public Vector3D getA2()

Get the axis of the second rotation.

Returns:

axis of the second rotation

getA3

public Vector3D getA3()

Get the axis of the second rotation.

Returns:

axis of the second rotation