org.apache.commons.math3.geometry.euclidean.threed
Class Screw

java.lang.Object
  org.apache.commons.math3.geometry.euclidean.threed.Screw

public class Screw
extends Object

This class represents a screw

Since:

3.1.2

Version:

$Id: Screw.java 9807 2014-01-16 10:19:22Z houdroge $

Constructor Summary

Screw(Screw screw)
Build a copy of a screw.

Screw(Vector3D inOrigin, Vector3D inTranslation, Vector3D inRotation)
Constructor

Method Summary

static Screw	displace(Screw s, Vector3D newOrigin) Displace this screw, using Chasles
Screw	displace(Vector3D newOrigin) Displace this screw, using Chasles
Vector3D	getOrigin()
Vector3D	getRotation()
Vector3D	getTranslation()
Screw	sum(Screw screw) Calculate the sum of this and screw, expressed in this objects origin.
static Screw	sum(Screw s1, Screw s2) Calculate the sum of this and screw, expressed in this objects origin.
String	toString() Get a String representation of this screw.

Methods inherited from class java.lang.Object

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

Constructor Detail

Screw

public Screw(Screw screw)

Build a copy of a screw.

Parameters:

screw - screw

Screw

public Screw(Vector3D inOrigin,
             Vector3D inTranslation,
             Vector3D inRotation)

Constructor

Parameters:

inOrigin - origin

inTranslation - translation

inRotation - rotation

Method Detail

sum

public static Screw sum(Screw s1,
                        Screw s2)

Calculate the sum of this and screw, expressed in this objects origin.

Parameters:

s1 - screw.

s2 - screw.

Returns:

sum of screws

displace

public static Screw displace(Screw s,
                             Vector3D newOrigin)

Displace this screw, using Chasles

Parameters:

s - screw

newOrigin - new origin for s

Returns:

screw expressed in new origin

sum

public Screw sum(Screw screw)

Calculate the sum of this and screw, expressed in this objects origin.

Parameters:

screw - screw to add to this.

Returns:

sum of screws

displace

public Screw displace(Vector3D newOrigin)

Displace this screw, using Chasles

Parameters:

newOrigin - new origin for current object

Returns:

screw expressed in new origin

getOrigin

public Vector3D getOrigin()

Returns:

the origin

getTranslation

public Vector3D getTranslation()

Returns:

the translation

getRotation

public Vector3D getRotation()

Returns:

the rotation

toString

public String toString()

Get a String representation of this screw.

Overrides:

toString in class Object

Returns:

a representation for this screw