fr.cnes.genopus.nonWidget.attitudes
Class CustomRotation

java.lang.Object
  org.apache.commons.math3.geometry.euclidean.threed.Rotation
      fr.cnes.genopus.nonWidget.attitudes.CustomRotation

All Implemented Interfaces:

Serializable

public class CustomRotation
extends org.apache.commons.math3.geometry.euclidean.threed.Rotation

Custom class to save initial values for a PATRIUS Rotation, to allow repetitivity.

Author:

ffsm

See Also:

Serialized Form

Field Summary

Fields inherited from class org.apache.commons.math3.geometry.euclidean.threed.Rotation

IDENTITY

Constructor Summary

CustomRotation(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order, double alpha1, double alpha2, double alpha3)

Method Summary

double[]	getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order)
org.apache.commons.math3.geometry.euclidean.threed.RotationOrder	getRotationOrder() Getter for the order of rotations to use for (alpha1, alpha2, alpha3) composition.
String	toString()

Methods inherited from class org.apache.commons.math3.geometry.euclidean.threed.Rotation

applyInverseTo, applyInverseTo, applyInverseTo, applyTo, applyTo, applyTo, distance, getAngle, getAxis, getMatrix, getQi, getQuaternion, isEqualTo, isEqualTo, lerp, revert, slerp

Methods inherited from class java.lang.Object

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

Constructor Detail

CustomRotation

public CustomRotation(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order,
                      double alpha1,
                      double alpha2,
                      double alpha3)

Parameters:

order - order of rotations to use

alpha1 - angle of the first elementary rotation

alpha2 - angle of the second elementary rotation

alpha3 - angle of the third elementary rotation

See Also:

Rotation.Rotation(RotationOrder, double, double, double)

Method Detail

getAngles

public double[] getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder order)

Overrides:

getAngles in class org.apache.commons.math3.geometry.euclidean.threed.Rotation

getRotationOrder

public org.apache.commons.math3.geometry.euclidean.threed.RotationOrder getRotationOrder()

Getter for the order of rotations to use for (alpha1, alpha2, alpha3) composition.

Returns:

the order of rotations to use for (alpha1, alpha2, alpha3) composition

toString

public String toString()

Overrides:

toString in class org.apache.commons.math3.geometry.euclidean.threed.Rotation