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/*
* 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;
}
}
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