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author | dwinter |
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date | Tue, 04 Jan 2011 10:02:07 +0100 |
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<HTML> <BODY BGCOLOR="white"> <PRE> <FONT color="green">001</FONT> /*<a name="line.1"></a> <FONT color="green">002</FONT> * Licensed to the Apache Software Foundation (ASF) under one or more<a name="line.2"></a> <FONT color="green">003</FONT> * contributor license agreements. See the NOTICE file distributed with<a name="line.3"></a> <FONT color="green">004</FONT> * this work for additional information regarding copyright ownership.<a name="line.4"></a> <FONT color="green">005</FONT> * The ASF licenses this file to You under the Apache License, Version 2.0<a name="line.5"></a> <FONT color="green">006</FONT> * (the "License"); you may not use this file except in compliance with<a name="line.6"></a> <FONT color="green">007</FONT> * the License. You may obtain a copy of the License at<a name="line.7"></a> <FONT color="green">008</FONT> *<a name="line.8"></a> <FONT color="green">009</FONT> * http://www.apache.org/licenses/LICENSE-2.0<a name="line.9"></a> <FONT color="green">010</FONT> *<a name="line.10"></a> <FONT color="green">011</FONT> * Unless required by applicable law or agreed to in writing, software<a name="line.11"></a> <FONT color="green">012</FONT> * distributed under the License is distributed on an "AS IS" BASIS,<a name="line.12"></a> <FONT color="green">013</FONT> * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.<a name="line.13"></a> <FONT color="green">014</FONT> * See the License for the specific language governing permissions and<a name="line.14"></a> <FONT color="green">015</FONT> * limitations under the License.<a name="line.15"></a> <FONT color="green">016</FONT> */<a name="line.16"></a> <FONT color="green">017</FONT> <a name="line.17"></a> <FONT color="green">018</FONT> package org.apache.commons.math.geometry;<a name="line.18"></a> <FONT color="green">019</FONT> <a name="line.19"></a> <FONT color="green">020</FONT> /**<a name="line.20"></a> <FONT color="green">021</FONT> * This class is a utility representing a rotation order specification<a name="line.21"></a> <FONT color="green">022</FONT> * for Cardan or Euler angles specification.<a name="line.22"></a> <FONT color="green">023</FONT> *<a name="line.23"></a> <FONT color="green">024</FONT> * This class cannot be instanciated by the user. He can only use one<a name="line.24"></a> <FONT color="green">025</FONT> * of the twelve predefined supported orders as an argument to either<a name="line.25"></a> <FONT color="green">026</FONT> * the {@link Rotation#Rotation(RotationOrder,double,double,double)}<a name="line.26"></a> <FONT color="green">027</FONT> * constructor or the {@link Rotation#getAngles} method.<a name="line.27"></a> <FONT color="green">028</FONT> *<a name="line.28"></a> <FONT color="green">029</FONT> * @version $Revision: 811827 $ $Date: 2009-09-06 11:32:50 -0400 (Sun, 06 Sep 2009) $<a name="line.29"></a> <FONT color="green">030</FONT> * @since 1.2<a name="line.30"></a> <FONT color="green">031</FONT> */<a name="line.31"></a> <FONT color="green">032</FONT> public final class RotationOrder {<a name="line.32"></a> <FONT color="green">033</FONT> <a name="line.33"></a> <FONT color="green">034</FONT> /** Set of Cardan angles.<a name="line.34"></a> <FONT color="green">035</FONT> * this ordered set of rotations is around X, then around Y, then<a name="line.35"></a> <FONT color="green">036</FONT> * around Z<a name="line.36"></a> <FONT color="green">037</FONT> */<a name="line.37"></a> <FONT color="green">038</FONT> public static final RotationOrder XYZ =<a name="line.38"></a> <FONT color="green">039</FONT> new RotationOrder("XYZ", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_K);<a name="line.39"></a> <FONT color="green">040</FONT> <a name="line.40"></a> <FONT color="green">041</FONT> /** Set of Cardan angles.<a name="line.41"></a> <FONT color="green">042</FONT> * this ordered set of rotations is around X, then around Z, then<a name="line.42"></a> <FONT color="green">043</FONT> * around Y<a name="line.43"></a> <FONT color="green">044</FONT> */<a name="line.44"></a> <FONT color="green">045</FONT> public static final RotationOrder XZY =<a name="line.45"></a> <FONT color="green">046</FONT> new RotationOrder("XZY", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_J);<a name="line.46"></a> <FONT color="green">047</FONT> <a name="line.47"></a> <FONT color="green">048</FONT> /** Set of Cardan angles.<a name="line.48"></a> <FONT color="green">049</FONT> * this ordered set of rotations is around Y, then around X, then<a name="line.49"></a> <FONT color="green">050</FONT> * around Z<a name="line.50"></a> <FONT color="green">051</FONT> */<a name="line.51"></a> <FONT color="green">052</FONT> public static final RotationOrder YXZ =<a name="line.52"></a> <FONT color="green">053</FONT> new RotationOrder("YXZ", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_K);<a name="line.53"></a> <FONT color="green">054</FONT> <a name="line.54"></a> <FONT color="green">055</FONT> /** Set of Cardan angles.<a name="line.55"></a> <FONT color="green">056</FONT> * this ordered set of rotations is around Y, then around Z, then<a name="line.56"></a> <FONT color="green">057</FONT> * around X<a name="line.57"></a> <FONT color="green">058</FONT> */<a name="line.58"></a> <FONT color="green">059</FONT> public static final RotationOrder YZX =<a name="line.59"></a> <FONT color="green">060</FONT> new RotationOrder("YZX", Vector3D.PLUS_J, Vector3D.PLUS_K, Vector3D.PLUS_I);<a name="line.60"></a> <FONT color="green">061</FONT> <a name="line.61"></a> <FONT color="green">062</FONT> /** Set of Cardan angles.<a name="line.62"></a> <FONT color="green">063</FONT> * this ordered set of rotations is around Z, then around X, then<a name="line.63"></a> <FONT color="green">064</FONT> * around Y<a name="line.64"></a> <FONT color="green">065</FONT> */<a name="line.65"></a> <FONT color="green">066</FONT> public static final RotationOrder ZXY =<a name="line.66"></a> <FONT color="green">067</FONT> new RotationOrder("ZXY", Vector3D.PLUS_K, Vector3D.PLUS_I, Vector3D.PLUS_J);<a name="line.67"></a> <FONT color="green">068</FONT> <a name="line.68"></a> <FONT color="green">069</FONT> /** Set of Cardan angles.<a name="line.69"></a> <FONT color="green">070</FONT> * this ordered set of rotations is around Z, then around Y, then<a name="line.70"></a> <FONT color="green">071</FONT> * around X<a name="line.71"></a> <FONT color="green">072</FONT> */<a name="line.72"></a> <FONT color="green">073</FONT> public static final RotationOrder ZYX =<a name="line.73"></a> <FONT color="green">074</FONT> new RotationOrder("ZYX", Vector3D.PLUS_K, Vector3D.PLUS_J, Vector3D.PLUS_I);<a name="line.74"></a> <FONT color="green">075</FONT> <a name="line.75"></a> <FONT color="green">076</FONT> /** Set of Euler angles.<a name="line.76"></a> <FONT color="green">077</FONT> * this ordered set of rotations is around X, then around Y, then<a name="line.77"></a> <FONT color="green">078</FONT> * around X<a name="line.78"></a> <FONT color="green">079</FONT> */<a name="line.79"></a> <FONT color="green">080</FONT> public static final RotationOrder XYX =<a name="line.80"></a> <FONT color="green">081</FONT> new RotationOrder("XYX", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_I);<a name="line.81"></a> <FONT color="green">082</FONT> <a name="line.82"></a> <FONT color="green">083</FONT> /** Set of Euler angles.<a name="line.83"></a> <FONT color="green">084</FONT> * this ordered set of rotations is around X, then around Z, then<a name="line.84"></a> <FONT color="green">085</FONT> * around X<a name="line.85"></a> <FONT color="green">086</FONT> */<a name="line.86"></a> <FONT color="green">087</FONT> public static final RotationOrder XZX =<a name="line.87"></a> <FONT color="green">088</FONT> new RotationOrder("XZX", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_I);<a name="line.88"></a> <FONT color="green">089</FONT> <a name="line.89"></a> <FONT color="green">090</FONT> /** Set of Euler angles.<a name="line.90"></a> <FONT color="green">091</FONT> * this ordered set of rotations is around Y, then around X, then<a name="line.91"></a> <FONT color="green">092</FONT> * around Y<a name="line.92"></a> <FONT color="green">093</FONT> */<a name="line.93"></a> <FONT color="green">094</FONT> public static final RotationOrder YXY =<a name="line.94"></a> <FONT color="green">095</FONT> new RotationOrder("YXY", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_J);<a name="line.95"></a> <FONT color="green">096</FONT> <a name="line.96"></a> <FONT color="green">097</FONT> /** Set of Euler angles.<a name="line.97"></a> <FONT color="green">098</FONT> * this ordered set of rotations is around Y, then around Z, then<a name="line.98"></a> <FONT color="green">099</FONT> * around Y<a name="line.99"></a> <FONT color="green">100</FONT> */<a name="line.100"></a> <FONT color="green">101</FONT> public static final RotationOrder YZY =<a name="line.101"></a> <FONT color="green">102</FONT> new RotationOrder("YZY", Vector3D.PLUS_J, Vector3D.PLUS_K, Vector3D.PLUS_J);<a name="line.102"></a> <FONT color="green">103</FONT> <a name="line.103"></a> <FONT color="green">104</FONT> /** Set of Euler angles.<a name="line.104"></a> <FONT color="green">105</FONT> * this ordered set of rotations is around Z, then around X, then<a name="line.105"></a> <FONT color="green">106</FONT> * around Z<a name="line.106"></a> <FONT color="green">107</FONT> */<a name="line.107"></a> <FONT color="green">108</FONT> public static final RotationOrder ZXZ =<a name="line.108"></a> <FONT color="green">109</FONT> new RotationOrder("ZXZ", Vector3D.PLUS_K, Vector3D.PLUS_I, Vector3D.PLUS_K);<a name="line.109"></a> <FONT color="green">110</FONT> <a name="line.110"></a> <FONT color="green">111</FONT> /** Set of Euler angles.<a name="line.111"></a> <FONT color="green">112</FONT> * this ordered set of rotations is around Z, then around Y, then<a name="line.112"></a> <FONT color="green">113</FONT> * around Z<a name="line.113"></a> <FONT color="green">114</FONT> */<a name="line.114"></a> <FONT color="green">115</FONT> public static final RotationOrder ZYZ =<a name="line.115"></a> <FONT color="green">116</FONT> new RotationOrder("ZYZ", Vector3D.PLUS_K, Vector3D.PLUS_J, Vector3D.PLUS_K);<a name="line.116"></a> <FONT color="green">117</FONT> <a name="line.117"></a> <FONT color="green">118</FONT> /** Name of the rotations order. */<a name="line.118"></a> <FONT color="green">119</FONT> private final String name;<a name="line.119"></a> <FONT color="green">120</FONT> <a name="line.120"></a> <FONT color="green">121</FONT> /** Axis of the first rotation. */<a name="line.121"></a> <FONT color="green">122</FONT> private final Vector3D a1;<a name="line.122"></a> <FONT color="green">123</FONT> <a name="line.123"></a> <FONT color="green">124</FONT> /** Axis of the second rotation. */<a name="line.124"></a> <FONT color="green">125</FONT> private final Vector3D a2;<a name="line.125"></a> <FONT color="green">126</FONT> <a name="line.126"></a> <FONT color="green">127</FONT> /** Axis of the third rotation. */<a name="line.127"></a> <FONT color="green">128</FONT> private final Vector3D a3;<a name="line.128"></a> <FONT color="green">129</FONT> <a name="line.129"></a> <FONT color="green">130</FONT> /** Private constructor.<a name="line.130"></a> <FONT color="green">131</FONT> * This is a utility class that cannot be instantiated by the user,<a name="line.131"></a> <FONT color="green">132</FONT> * so its only constructor is private.<a name="line.132"></a> <FONT color="green">133</FONT> * @param name name of the rotation order<a name="line.133"></a> <FONT color="green">134</FONT> * @param a1 axis of the first rotation<a name="line.134"></a> <FONT color="green">135</FONT> * @param a2 axis of the second rotation<a name="line.135"></a> <FONT color="green">136</FONT> * @param a3 axis of the third rotation<a name="line.136"></a> <FONT color="green">137</FONT> */<a name="line.137"></a> <FONT color="green">138</FONT> private RotationOrder(final String name,<a name="line.138"></a> <FONT color="green">139</FONT> final Vector3D a1, final Vector3D a2, final Vector3D a3) {<a name="line.139"></a> <FONT color="green">140</FONT> this.name = name;<a name="line.140"></a> <FONT color="green">141</FONT> this.a1 = a1;<a name="line.141"></a> <FONT color="green">142</FONT> this.a2 = a2;<a name="line.142"></a> <FONT color="green">143</FONT> this.a3 = a3;<a name="line.143"></a> <FONT color="green">144</FONT> }<a name="line.144"></a> <FONT color="green">145</FONT> <a name="line.145"></a> <FONT color="green">146</FONT> /** Get a string representation of the instance.<a name="line.146"></a> <FONT color="green">147</FONT> * @return a string representation of the instance (in fact, its name)<a name="line.147"></a> <FONT color="green">148</FONT> */<a name="line.148"></a> <FONT color="green">149</FONT> @Override<a name="line.149"></a> <FONT color="green">150</FONT> public String toString() {<a name="line.150"></a> <FONT color="green">151</FONT> return name;<a name="line.151"></a> <FONT color="green">152</FONT> }<a name="line.152"></a> <FONT color="green">153</FONT> <a name="line.153"></a> <FONT color="green">154</FONT> /** Get the axis of the first rotation.<a name="line.154"></a> <FONT color="green">155</FONT> * @return axis of the first rotation<a name="line.155"></a> <FONT color="green">156</FONT> */<a name="line.156"></a> <FONT color="green">157</FONT> public Vector3D getA1() {<a name="line.157"></a> <FONT color="green">158</FONT> return a1;<a name="line.158"></a> <FONT color="green">159</FONT> }<a name="line.159"></a> <FONT color="green">160</FONT> <a name="line.160"></a> <FONT color="green">161</FONT> /** Get the axis of the second rotation.<a name="line.161"></a> <FONT color="green">162</FONT> * @return axis of the second rotation<a name="line.162"></a> <FONT color="green">163</FONT> */<a name="line.163"></a> <FONT color="green">164</FONT> public Vector3D getA2() {<a name="line.164"></a> <FONT color="green">165</FONT> return a2;<a name="line.165"></a> <FONT color="green">166</FONT> }<a name="line.166"></a> <FONT color="green">167</FONT> <a name="line.167"></a> <FONT color="green">168</FONT> /** Get the axis of the second rotation.<a name="line.168"></a> <FONT color="green">169</FONT> * @return axis of the second rotation<a name="line.169"></a> <FONT color="green">170</FONT> */<a name="line.170"></a> <FONT color="green">171</FONT> public Vector3D getA3() {<a name="line.171"></a> <FONT color="green">172</FONT> return a3;<a name="line.172"></a> <FONT color="green">173</FONT> }<a name="line.173"></a> <FONT color="green">174</FONT> <a name="line.174"></a> <FONT color="green">175</FONT> }<a name="line.175"></a> </PRE> </BODY> </HTML>