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

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

public final class RotationOrder
extends Object

This class is a utility representing a rotation order specification for Cardan or Euler angles specification. This class cannot be instanciated by the user. He can only use one of the twelve predefined supported orders as an argument to either the Rotation.Rotation(RotationOrder,double,double,double) constructor or the Rotation.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder) method.

Since:

1.2

Version:

$Id: RotationOrder.java 3720 2012-03-16 16:34:17Z CardosoP $

Field Summary

static RotationOrder	XYX Set of Euler angles.
static RotationOrder	XYZ Set of Cardan angles.
static RotationOrder	XZX Set of Euler angles.
static RotationOrder	XZY Set of Cardan angles.
static RotationOrder	YXY Set of Euler angles.
static RotationOrder	YXZ Set of Cardan angles.
static RotationOrder	YZX Set of Cardan angles.
static RotationOrder	YZY Set of Euler angles.
static RotationOrder	ZXY Set of Cardan angles.
static RotationOrder	ZXZ Set of Euler angles.
static RotationOrder	ZYX Set of Cardan angles.
static RotationOrder	ZYZ Set of Euler angles.

Method Summary

Vector3D	getA1() Get the axis of the first rotation.
Vector3D	getA2() Get the axis of the second rotation.
Vector3D	getA3() Get the axis of the second rotation.
String	toString() Get a string representation of the instance.

Methods inherited from class java.lang.Object

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

Field Detail

XYZ

public static final RotationOrder XYZ

Set of Cardan angles. this ordered set of rotations is around X, then around Y, then around Z

XZY

public static final RotationOrder XZY

Set of Cardan angles. this ordered set of rotations is around X, then around Z, then around Y

YXZ

public static final RotationOrder YXZ

Set of Cardan angles. this ordered set of rotations is around Y, then around X, then around Z

YZX

public static final RotationOrder YZX

Set of Cardan angles. this ordered set of rotations is around Y, then around Z, then around X

ZXY

public static final RotationOrder ZXY

Set of Cardan angles. this ordered set of rotations is around Z, then around X, then around Y

ZYX

public static final RotationOrder ZYX

Set of Cardan angles. this ordered set of rotations is around Z, then around Y, then around X

XYX

public static final RotationOrder XYX

Set of Euler angles. this ordered set of rotations is around X, then around Y, then around X

XZX

public static final RotationOrder XZX

Set of Euler angles. this ordered set of rotations is around X, then around Z, then around X

YXY

public static final RotationOrder YXY

Set of Euler angles. this ordered set of rotations is around Y, then around X, then around Y

YZY

public static final RotationOrder YZY

Set of Euler angles. this ordered set of rotations is around Y, then around Z, then around Y

ZXZ

public static final RotationOrder ZXZ

Set of Euler angles. this ordered set of rotations is around Z, then around X, then around Z

ZYZ

public static final RotationOrder ZYZ

Set of Euler angles. this ordered set of rotations is around Z, then around Y, then around Z

Method Detail

toString

public String toString()

Get a string representation of the instance.

Overrides:

toString in class Object

Returns:

a string representation of the instance (in fact, its name)

getA1

public Vector3D getA1()

Get the axis of the first rotation.

Returns:

axis of the first rotation

getA2

public Vector3D getA2()

Get the axis of the second rotation.

Returns:

axis of the second rotation

getA3

public Vector3D getA3()

Get the axis of the second rotation.

Returns:

axis of the second rotation