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

Constructors

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

Method Summary

Methods

Modifier and Type	Method and Description
double[]	getAngles() Get the Cardan or Euler angles corresponding to the instance in the initial rotation order.
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)
               throws ArithmeticException

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

Throws:

ArithmeticException - if one of the angles is NaN or infinity.

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

getAngles

public double[] getAngles()

Get the Cardan or Euler angles corresponding to the instance in the initial rotation order.

Returns:

an array of three angles, in the order specified by the set

See Also:

Rotation.getAngles(RotationOrder)

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