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Diffstat (limited to 'src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationOrder.java')
| -rw-r--r-- | src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationOrder.java | 174 |
1 files changed, 174 insertions, 0 deletions
diff --git a/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationOrder.java b/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationOrder.java new file mode 100644 index 0000000..03bc1c2 --- /dev/null +++ b/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationOrder.java @@ -0,0 +1,174 @@ +/* + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. + * The ASF licenses this file to You under the Apache License, Version 2.0 + * (the "License"); you may not use this file except in compliance with + * the License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +package org.apache.commons.math3.geometry.euclidean.threed; + +/** + * 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 {@link Rotation#Rotation(RotationOrder,double,double,double)} + * constructor or the {@link Rotation#getAngles} method. + * + * @since 1.2 + */ +public final class RotationOrder { + + /** Set of Cardan angles. + * this ordered set of rotations is around X, then around Y, then + * around Z + */ + public static final RotationOrder XYZ = + new RotationOrder("XYZ", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_K); + + /** Set of Cardan angles. + * this ordered set of rotations is around X, then around Z, then + * around Y + */ + public static final RotationOrder XZY = + new RotationOrder("XZY", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_J); + + /** Set of Cardan angles. + * this ordered set of rotations is around Y, then around X, then + * around Z + */ + public static final RotationOrder YXZ = + new RotationOrder("YXZ", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_K); + + /** Set of Cardan angles. + * this ordered set of rotations is around Y, then around Z, then + * around X + */ + public static final RotationOrder YZX = + new RotationOrder("YZX", Vector3D.PLUS_J, Vector3D.PLUS_K, Vector3D.PLUS_I); + + /** Set of Cardan angles. + * this ordered set of rotations is around Z, then around X, then + * around Y + */ + public static final RotationOrder ZXY = + new RotationOrder("ZXY", Vector3D.PLUS_K, Vector3D.PLUS_I, Vector3D.PLUS_J); + + /** Set of Cardan angles. + * this ordered set of rotations is around Z, then around Y, then + * around X + */ + public static final RotationOrder ZYX = + new RotationOrder("ZYX", Vector3D.PLUS_K, Vector3D.PLUS_J, Vector3D.PLUS_I); + + /** Set of Euler angles. + * this ordered set of rotations is around X, then around Y, then + * around X + */ + public static final RotationOrder XYX = + new RotationOrder("XYX", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_I); + + /** Set of Euler angles. + * this ordered set of rotations is around X, then around Z, then + * around X + */ + public static final RotationOrder XZX = + new RotationOrder("XZX", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_I); + + /** Set of Euler angles. + * this ordered set of rotations is around Y, then around X, then + * around Y + */ + public static final RotationOrder YXY = + new RotationOrder("YXY", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_J); + + /** Set of Euler angles. + * this ordered set of rotations is around Y, then around Z, then + * around Y + */ + public static final RotationOrder YZY = + new RotationOrder("YZY", Vector3D.PLUS_J, Vector3D.PLUS_K, Vector3D.PLUS_J); + + /** Set of Euler angles. + * this ordered set of rotations is around Z, then around X, then + * around Z + */ + public static final RotationOrder ZXZ = + new RotationOrder("ZXZ", Vector3D.PLUS_K, Vector3D.PLUS_I, Vector3D.PLUS_K); + + /** Set of Euler angles. + * this ordered set of rotations is around Z, then around Y, then + * around Z + */ + public static final RotationOrder ZYZ = + new RotationOrder("ZYZ", Vector3D.PLUS_K, Vector3D.PLUS_J, Vector3D.PLUS_K); + + /** Name of the rotations order. */ + private final String name; + + /** Axis of the first rotation. */ + private final Vector3D a1; + + /** Axis of the second rotation. */ + private final Vector3D a2; + + /** Axis of the third rotation. */ + private final Vector3D a3; + + /** Private constructor. + * This is a utility class that cannot be instantiated by the user, + * so its only constructor is private. + * @param name name of the rotation order + * @param a1 axis of the first rotation + * @param a2 axis of the second rotation + * @param a3 axis of the third rotation + */ + private RotationOrder(final String name, + final Vector3D a1, final Vector3D a2, final Vector3D a3) { + this.name = name; + this.a1 = a1; + this.a2 = a2; + this.a3 = a3; + } + + /** Get a string representation of the instance. + * @return a string representation of the instance (in fact, its name) + */ + @Override + public String toString() { + return name; + } + + /** Get the axis of the first rotation. + * @return axis of the first rotation + */ + public Vector3D getA1() { + return a1; + } + + /** Get the axis of the second rotation. + * @return axis of the second rotation + */ + public Vector3D getA2() { + return a2; + } + + /** Get the axis of the second rotation. + * @return axis of the second rotation + */ + public Vector3D getA3() { + return a3; + } + +} |