org.apache.commons.math.geometry
Class RotationOrder

java.lang.Object
  extended by 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.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
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
private RotationOrder(java.lang.String name, Vector3D a1, Vector3D a2, Vector3D a3)
          Private constructor.
 
Method Summary
 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


Copyright (c) 2003-2013 Apache Software Foundation