source: src/main/java/agents/org/apache/commons/math/geometry/RotationOrder.java

Last change on this file was 1, checked in by Wouter Pasman, 7 years ago

Initial import : Genius 9.0.0
File size: 5.8 KB
Line 
1/*
2 * Licensed to the Apache Software Foundation (ASF) under one or more
3 * contributor license agreements. See the NOTICE file distributed with
4 * this work for additional information regarding copyright ownership.
5 * The ASF licenses this file to You under the Apache License, Version 2.0
6 * (the "License"); you may not use this file except in compliance with
7 * the License. You may obtain a copy of the License at
8 *
9 * http://www.apache.org/licenses/LICENSE-2.0
10 *
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
16 */
17
18package agents.org.apache.commons.math.geometry;
19
20/**
21 * This class is a utility representing a rotation order specification
22 * for Cardan or Euler angles specification.
23 *
24 * This class cannot be instanciated by the user. He can only use one
25 * of the twelve predefined supported orders as an argument to either
26 * the {@link Rotation#Rotation(RotationOrder,double,double,double)}
27 * constructor or the {@link Rotation#getAngles} method.
28 *
29 * @version $Revision: 811827 $ $Date: 2009-09-06 17:32:50 +0200 (dim. 06 sept. 2009) $
30 * @since 1.2
31 */
32public final class RotationOrder {
33
34 /** Set of Cardan angles.
35 * this ordered set of rotations is around X, then around Y, then
36 * around Z
37 */
38 public static final RotationOrder XYZ =
39 new RotationOrder("XYZ", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_K);
40
41 /** Set of Cardan angles.
42 * this ordered set of rotations is around X, then around Z, then
43 * around Y
44 */
45 public static final RotationOrder XZY =
46 new RotationOrder("XZY", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_J);
47
48 /** Set of Cardan angles.
49 * this ordered set of rotations is around Y, then around X, then
50 * around Z
51 */
52 public static final RotationOrder YXZ =
53 new RotationOrder("YXZ", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_K);
54
55 /** Set of Cardan angles.
56 * this ordered set of rotations is around Y, then around Z, then
57 * around X
58 */
59 public static final RotationOrder YZX =
60 new RotationOrder("YZX", Vector3D.PLUS_J, Vector3D.PLUS_K, Vector3D.PLUS_I);
61
62 /** Set of Cardan angles.
63 * this ordered set of rotations is around Z, then around X, then
64 * around Y
65 */
66 public static final RotationOrder ZXY =
67 new RotationOrder("ZXY", Vector3D.PLUS_K, Vector3D.PLUS_I, Vector3D.PLUS_J);
68
69 /** Set of Cardan angles.
70 * this ordered set of rotations is around Z, then around Y, then
71 * around X
72 */
73 public static final RotationOrder ZYX =
74 new RotationOrder("ZYX", Vector3D.PLUS_K, Vector3D.PLUS_J, Vector3D.PLUS_I);
75
76 /** Set of Euler angles.
77 * this ordered set of rotations is around X, then around Y, then
78 * around X
79 */
80 public static final RotationOrder XYX =
81 new RotationOrder("XYX", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_I);
82
83 /** Set of Euler angles.
84 * this ordered set of rotations is around X, then around Z, then
85 * around X
86 */
87 public static final RotationOrder XZX =
88 new RotationOrder("XZX", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_I);
89
90 /** Set of Euler angles.
91 * this ordered set of rotations is around Y, then around X, then
92 * around Y
93 */
94 public static final RotationOrder YXY =
95 new RotationOrder("YXY", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_J);
96
97 /** Set of Euler angles.
98 * this ordered set of rotations is around Y, then around Z, then
99 * around Y
100 */
101 public static final RotationOrder YZY =
102 new RotationOrder("YZY", Vector3D.PLUS_J, Vector3D.PLUS_K, Vector3D.PLUS_J);
103
104 /** Set of Euler angles.
105 * this ordered set of rotations is around Z, then around X, then
106 * around Z
107 */
108 public static final RotationOrder ZXZ =
109 new RotationOrder("ZXZ", Vector3D.PLUS_K, Vector3D.PLUS_I, Vector3D.PLUS_K);
110
111 /** Set of Euler angles.
112 * this ordered set of rotations is around Z, then around Y, then
113 * around Z
114 */
115 public static final RotationOrder ZYZ =
116 new RotationOrder("ZYZ", Vector3D.PLUS_K, Vector3D.PLUS_J, Vector3D.PLUS_K);
117
118 /** Name of the rotations order. */
119 private final String name;
120
121 /** Axis of the first rotation. */
122 private final Vector3D a1;
123
124 /** Axis of the second rotation. */
125 private final Vector3D a2;
126
127 /** Axis of the third rotation. */
128 private final Vector3D a3;
129
130 /** Private constructor.
131 * This is a utility class that cannot be instantiated by the user,
132 * so its only constructor is private.
133 * @param name name of the rotation order
134 * @param a1 axis of the first rotation
135 * @param a2 axis of the second rotation
136 * @param a3 axis of the third rotation
137 */
138 private RotationOrder(final String name,
139 final Vector3D a1, final Vector3D a2, final Vector3D a3) {
140 this.name = name;
141 this.a1 = a1;
142 this.a2 = a2;
143 this.a3 = a3;
144 }
145
146 /** Get a string representation of the instance.
147 * @return a string representation of the instance (in fact, its name)
148 */
149 @Override
150 public String toString() {
151 return name;
152 }
153
154 /** Get the axis of the first rotation.
155 * @return axis of the first rotation
156 */
157 public Vector3D getA1() {
158 return a1;
159 }
160
161 /** Get the axis of the second rotation.
162 * @return axis of the second rotation
163 */
164 public Vector3D getA2() {
165 return a2;
166 }
167
168 /** Get the axis of the second rotation.
169 * @return axis of the second rotation
170 */
171 public Vector3D getA3() {
172 return a3;
173 }
174
175}
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