fr.cnes.sirius.patrius.math.geometry.euclidean.threed

Class CardanCalculator

java.lang.Object

fr.cnes.sirius.patrius.math.geometry.euclidean.threed.CardanCalculator

public final class CardanCalculator
extends Object

Compute X and Y Cardan angles of a point, defined by its Cartesian coordinates in a frame whose Y, Z axis, local vertical and west directions axis are in the same Plane. The X-angle is the angle from the "Local Vertical", in the (local vertical - west) plane. This angle is defined in [ -PI ; PI) and oriented trigowise.
The Y-angle is the angle of rotation of the mounting around Y'. Y' is the image of West axis by the rotation of X-angle around North axis. This angle is defined in [-PI/2 ; PI/2] and oriented by Y'.

Since:

4.13

Author:

amouroum, bonitt

Method Summary

Modifier and Type	Method and Description
static Vector3D	computeCartesianUnitPosition(double xAngle, double yAngle, double frameOrientation) Compute the cartesian unit vector corresponding to the provided cardan angles.
static PVCoordinates	computeCartesianUnitPV(double xAngle, double xAngleDot, double yAngle, double yAngleDot, double frameOrientation) Compute the cartesian unit vector corresponding to the provided cardan angles.
static Vector3D	computeDXangle(Vector3D vectInTopoFrame, double frameOrientation) Get the X-angle derivative of a point wrt the local point (dX) expressed in the oriented topocentric frame.
static Vector3D	computeDYangle(Vector3D vectInTopoFrame, double frameOrientation) Get the Y-angle derivative of a point wrt the local point (dY) expressed in the oriented topocentric frame.
static double	computeXangle(Vector3D extTopo, double frameOrientation) Compute the X-angle of a point given in cartesian coordinates in a local topocentric frame.
static double	computeXangleRate(PVCoordinates extPVTopoOld, double frameOrientation) Compute the X-angle rate of a point given in Cartesian coordinates in the local topocentric frame.
static double	computeYangle(Vector3D extTopo, double frameOrientation) Compute the Y-angle of a point given in Cartesian coordinates in the local topocentric frame.
static double	computeYangleRate(PVCoordinates extPVTopoOld, double frameOrientation) Compute the Y-angle rate of a point given in Cartesian coordinates in the local topocentric frame.

Methods inherited from class java.lang.Object

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

Method Detail

computeXangle

public static double computeXangle(Vector3D extTopo,
                                   double frameOrientation)

Compute the X-angle of a point given in cartesian coordinates in a local topocentric frame.
The X-angle is defined in [-PI ; PI), and oriented trigowise.

Parameters:

extTopo - Point in cartesian coordinates which shall be transformed

frameOrientation - Topocentric frame orientation around the local north and the X-axis (trigowise)

Returns:

X-angle

computeDXangle

public static Vector3D computeDXangle(Vector3D vectInTopoFrame,
                                      double frameOrientation)

Get the X-angle derivative of a point wrt the local point (dX) expressed in the oriented topocentric frame.
The angles are oriented trigowise.

Parameters:

vectInTopoFrame - Point in cartesian coordinates which shall be transformed

frameOrientation - Topocentric frame orientation around the local north and the X-axis (trigowise)

Returns:

X-angle derivative

computeXangleRate

public static double computeXangleRate(PVCoordinates extPVTopoOld,
                                       double frameOrientation)

Compute the X-angle rate of a point given in Cartesian coordinates in the local topocentric frame.
The X-angle rate is oriented trigowise.

Parameters:

extPVTopoOld - Point in Cartesian coordinates which shall be transformed

frameOrientation - Topocentric frame orientation around the local north and the X-axis (trigowise)

Returns:

X-angle rate

computeYangle

public static double computeYangle(Vector3D extTopo,
                                   double frameOrientation)

Compute the Y-angle of a point given in Cartesian coordinates in the local topocentric frame.
The Y-angle is defined in [-PI/2 ; PI/2].

Parameters:

extTopo - Point in Cartesian coordinates which shall be transformed

frameOrientation - Topocentric frame orientation around the local north and the X-axis (trigowise)

Returns:

Y-angle

computeDYangle

public static Vector3D computeDYangle(Vector3D vectInTopoFrame,
                                      double frameOrientation)

Get the Y-angle derivative of a point wrt the local point (dY) expressed in the oriented topocentric frame.

Parameters:

vectInTopoFrame - point in cartesian coordinates which shall be transformed

frameOrientation - Topocentric frame orientation around the local north and the X-axis (trigowise)

Returns:

Y-angle derivative

computeYangleRate

public static double computeYangleRate(PVCoordinates extPVTopoOld,
                                       double frameOrientation)

Compute the Y-angle rate of a point given in Cartesian coordinates in the local topocentric frame.

Parameters:

extPVTopoOld - Point in Cartesian coordinates which shall be transformed

frameOrientation - Topocentric frame orientation around the local north and the x-axis (trigowise)

Returns:

Y-angle rate

computeCartesianUnitPosition

public static Vector3D computeCartesianUnitPosition(double xAngle,
                                                    double yAngle,
                                                    double frameOrientation)

Compute the cartesian unit vector corresponding to the provided cardan angles.

Parameters:

xAngle - The cardan x-angle

yAngle - The cardan y-angle

frameOrientation - Topocentric frame orientation around the local north and the x-axis (trigowise)

Returns:

the cartesian unit vector

computeCartesianUnitPV

public static PVCoordinates computeCartesianUnitPV(double xAngle,
                                                   double xAngleDot,
                                                   double yAngle,
                                                   double yAngleDot,
                                                   double frameOrientation)

Compute the cartesian unit vector corresponding to the provided cardan angles.

Parameters:

xAngle - The cardan x-angle

xAngleDot - The cardan x-angle derivative

yAngle - The cardan y-angle

yAngleDot - The cardan y-angle derivative

frameOrientation - Topocentric frame orientation around the local north and the x-axis (trigowise)

Returns:

the cartesian unit vector