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

java.lang.Object
  extended by org.apache.commons.math3.geometry.euclidean.threed.Rotation
All Implemented Interfaces:
Serializable

public class Rotation
extends Object
implements Serializable

This class implements rotations in a three-dimensional space.

Rotations can be represented by several different mathematical entities (matrices, axe and angle, Cardan or Euler angles, quaternions). This class presents an higher level abstraction, more user-oriented and hiding this implementation details. Well, for the curious, we use quaternions for the internal representation. The user can build a rotation from any of these representations, and any of these representations can be retrieved from a Rotation instance (see the various constructors and getters). In addition, a rotation can also be built implicitly from a set of vectors and their image.

This implies that this class can be used to convert from one representation to another one. For example, converting a rotation matrix into a set of Cardan angles from can be done using the following single line of code:

 double[] angles = new Rotation(matrix, 1.0e-10).getAngles(RotationOrder.XYZ);
 

Focus is oriented on what a rotation do rather than on its underlying representation. Once it has been built, and regardless of its internal representation, a rotation is an operator which basically transforms three dimensional vectors into other three dimensional vectors. Depending on the application, the meaning of these vectors may vary and the semantics of the rotation also.

For example in an spacecraft attitude simulation tool, users will often consider the vectors are fixed (say the Earth direction for example) and the frames change. The rotation transforms the coordinates of the vector in inertial frame into the coordinates of the same vector in satellite frame. In this case, the rotation implicitly defines the relation between the two frames.

Another example could be a telescope control application, where the rotation would transform the sighting direction at rest into the desired observing direction when the telescope is pointed towards an object of interest. In this case the rotation transforms the direction at rest in a topocentric frame into the sighting direction in the same topocentric frame. This implies in this case the frame is fixed and the vector moves.

In many case, both approaches will be combined. In our telescope example, we will probably also need to transform the observing direction in the topocentric frame into the observing direction in inertial frame taking into account the observatory location and the Earth rotation, which would essentially be an application of the first approach.

These examples show that a rotation is what the user wants it to be. This class does not push the user towards one specific definition and hence does not provide methods like projectVectorIntoDestinationFrame or computeTransformedDirection. It provides simpler and more generic methods: applyTo(Vector3D) and applyInverseTo(Vector3D).

Since a rotation is basically a vectorial operator, several rotations can be composed together and the composite operation r = r1 o r2 (which means that for each vector u, r(u) = r1(r2(u))) is also a rotation. Hence we can consider that in addition to vectors, a rotation can be applied to other rotations as well (or to itself). With our previous notations, we would say we can apply r1 to r2 and the result we get is r = r1 o r2. For this purpose, the class provides the methods: applyTo(Rotation) and applyInverseTo(Rotation).

Rotations are guaranteed to be immutable objects.

Since:
1.2
Version:
$Id: Rotation.java 1416643 2012-12-03 19:37:14Z tn $
See Also:
Vector3D, RotationOrder, Serialized Form

Field Summary
static Rotation IDENTITY
          Identity rotation.
 
Constructor Summary
Rotation(double[][] m, double threshold)
          Build a rotation from a 3X3 matrix.
Rotation(double q0, double q1, double q2, double q3, boolean needsNormalization)
          Build a rotation from the quaternion coordinates.
Rotation(RotationOrder order, double alpha1, double alpha2, double alpha3)
          Build a rotation from three Cardan or Euler elementary rotations.
Rotation(Vector3D axis, double angle)
          Build a rotation from an axis and an angle.
Rotation(Vector3D u, Vector3D v)
          Build one of the rotations that transform one vector into another one.
Rotation(Vector3D u1, Vector3D u2, Vector3D v1, Vector3D v2)
          Build the rotation that transforms a pair of vector into another pair.
 
Method Summary
 void applyInverseTo(double[] in, double[] out)
          Apply the inverse of the rotation to a vector stored in an array.
 Rotation applyInverseTo(Rotation r)
          Apply the inverse of the instance to another rotation.
 Vector3D applyInverseTo(Vector3D u)
          Apply the inverse of the rotation to a vector.
 void applyTo(double[] in, double[] out)
          Apply the rotation to a vector stored in an array.
 Rotation applyTo(Rotation r)
          Apply the instance to another rotation.
 Vector3D applyTo(Vector3D u)
          Apply the rotation to a vector.
static double distance(Rotation r1, Rotation r2)
          Compute the distance between two rotations.
 double getAngle()
          Get the angle of the rotation.
 double[] getAngles(RotationOrder order)
          Get the Cardan or Euler angles corresponding to the instance.
 Vector3D getAxis()
          Get the normalized axis of the rotation.
 double[][] getMatrix()
          Get the 3X3 matrix corresponding to the instance
 double getQ0()
          Get the scalar coordinate of the quaternion.
 double getQ1()
          Get the first coordinate of the vectorial part of the quaternion.
 double getQ2()
          Get the second coordinate of the vectorial part of the quaternion.
 double getQ3()
          Get the third coordinate of the vectorial part of the quaternion.
 Rotation revert()
          Revert a rotation.
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

IDENTITY

public static final Rotation IDENTITY
Identity rotation.

Constructor Detail

Rotation

public Rotation(double q0,
                double q1,
                double q2,
                double q3,
                boolean needsNormalization)
Build a rotation from the quaternion coordinates.

A rotation can be built from a normalized quaternion, i.e. a quaternion for which q02 + q12 + q22 + q32 = 1. If the quaternion is not normalized, the constructor can normalize it in a preprocessing step.

Note that some conventions put the scalar part of the quaternion as the 4th component and the vector part as the first three components. This is not our convention. We put the scalar part as the first component.

Parameters:
q0 - scalar part of the quaternion
q1 - first coordinate of the vectorial part of the quaternion
q2 - second coordinate of the vectorial part of the quaternion
q3 - third coordinate of the vectorial part of the quaternion
needsNormalization - if true, the coordinates are considered not to be normalized, a normalization preprocessing step is performed before using them

Rotation

public Rotation(Vector3D axis,
                double angle)
         throws MathIllegalArgumentException
Build a rotation from an axis and an angle.

We use the convention that angles are oriented according to the effect of the rotation on vectors around the axis. That means that if (i, j, k) is a direct frame and if we first provide +k as the axis and π/2 as the angle to this constructor, and then apply the instance to +i, we will get +j.

Another way to represent our convention is to say that a rotation of angle θ about the unit vector (x, y, z) is the same as the rotation build from quaternion components { cos(-θ/2), x * sin(-θ/2), y * sin(-θ/2), z * sin(-θ/2) }. Note the minus sign on the angle!

On the one hand this convention is consistent with a vectorial perspective (moving vectors in fixed frames), on the other hand it is different from conventions with a frame perspective (fixed vectors viewed from different frames) like the ones used for example in spacecraft attitude community or in the graphics community.

Parameters:
axis - axis around which to rotate
angle - rotation angle.
Throws:
MathIllegalArgumentException - if the axis norm is zero

Rotation

public Rotation(double[][] m,
                double threshold)
         throws NotARotationMatrixException
Build a rotation from a 3X3 matrix.

Rotation matrices are orthogonal matrices, i.e. unit matrices (which are matrices for which m.mT = I) with real coefficients. The module of the determinant of unit matrices is 1, among the orthogonal 3X3 matrices, only the ones having a positive determinant (+1) are rotation matrices.

When a rotation is defined by a matrix with truncated values (typically when it is extracted from a technical sheet where only four to five significant digits are available), the matrix is not orthogonal anymore. This constructor handles this case transparently by using a copy of the given matrix and applying a correction to the copy in order to perfect its orthogonality. If the Frobenius norm of the correction needed is above the given threshold, then the matrix is considered to be too far from a true rotation matrix and an exception is thrown.

Parameters:
m - rotation matrix
threshold - convergence threshold for the iterative orthogonality correction (convergence is reached when the difference between two steps of the Frobenius norm of the correction is below this threshold)
Throws:
NotARotationMatrixException - if the matrix is not a 3X3 matrix, or if it cannot be transformed into an orthogonal matrix with the given threshold, or if the determinant of the resulting orthogonal matrix is negative

Rotation

public Rotation(Vector3D u1,
                Vector3D u2,
                Vector3D v1,
                Vector3D v2)
         throws MathArithmeticException
Build the rotation that transforms a pair of vector into another pair.

Except for possible scale factors, if the instance were applied to the pair (u1, u2) it will produce the pair (v1, v2).

If the angular separation between u1 and u2 is not the same as the angular separation between v1 and v2, then a corrected v'2 will be used rather than v2, the corrected vector will be in the (v1, v2) plane.

Parameters:
u1 - first vector of the origin pair
u2 - second vector of the origin pair
v1 - desired image of u1 by the rotation
v2 - desired image of u2 by the rotation
Throws:
MathArithmeticException - if the norm of one of the vectors is zero, or if one of the pair is degenerated (i.e. the vectors of the pair are colinear)

Rotation

public Rotation(Vector3D u,
                Vector3D v)
         throws MathArithmeticException
Build one of the rotations that transform one vector into another one.

Except for a possible scale factor, if the instance were applied to the vector u it will produce the vector v. There is an infinite number of such rotations, this constructor choose the one with the smallest associated angle (i.e. the one whose axis is orthogonal to the (u, v) plane). If u and v are colinear, an arbitrary rotation axis is chosen.

Parameters:
u - origin vector
v - desired image of u by the rotation
Throws:
MathArithmeticException - if the norm of one of the vectors is zero

Rotation

public Rotation(RotationOrder order,
                double alpha1,
                double alpha2,
                double alpha3)
Build a rotation from three Cardan or Euler elementary rotations.

Cardan rotations are three successive rotations around the canonical axes X, Y and Z, each axis being used once. There are 6 such sets of rotations (XYZ, XZY, YXZ, YZX, ZXY and ZYX). Euler rotations are three successive rotations around the canonical axes X, Y and Z, the first and last rotations being around the same axis. There are 6 such sets of rotations (XYX, XZX, YXY, YZY, ZXZ and ZYZ), the most popular one being ZXZ.

Beware that many people routinely use the term Euler angles even for what really are Cardan angles (this confusion is especially widespread in the aerospace business where Roll, Pitch and Yaw angles are often wrongly tagged as Euler angles).

Parameters:
order - order of rotations to use
alpha1 - angle of the first elementary rotation
alpha2 - angle of the second elementary rotation
alpha3 - angle of the third elementary rotation
Method Detail

revert

public Rotation revert()
Revert a rotation. Build a rotation which reverse the effect of another rotation. This means that if r(u) = v, then r.revert(v) = u. The instance is not changed.

Returns:
a new rotation whose effect is the reverse of the effect of the instance

getQ0

public double getQ0()
Get the scalar coordinate of the quaternion.

Returns:
scalar coordinate of the quaternion

getQ1

public double getQ1()
Get the first coordinate of the vectorial part of the quaternion.

Returns:
first coordinate of the vectorial part of the quaternion

getQ2

public double getQ2()
Get the second coordinate of the vectorial part of the quaternion.

Returns:
second coordinate of the vectorial part of the quaternion

getQ3

public double getQ3()
Get the third coordinate of the vectorial part of the quaternion.

Returns:
third coordinate of the vectorial part of the quaternion

getAxis

public Vector3D getAxis()
Get the normalized axis of the rotation.

Returns:
normalized axis of the rotation
See Also:
Rotation(Vector3D, double)

getAngle

public double getAngle()
Get the angle of the rotation.

Returns:
angle of the rotation (between 0 and π)
See Also:
Rotation(Vector3D, double)

getAngles

public double[] getAngles(RotationOrder order)
                   throws CardanEulerSingularityException
Get the Cardan or Euler angles corresponding to the instance.

The equations show that each rotation can be defined by two different values of the Cardan or Euler angles set. For example if Cardan angles are used, the rotation defined by the angles a1, a2 and a3 is the same as the rotation defined by the angles π + a1, π - a2 and π + a3. This method implements the following arbitrary choices:

Cardan and Euler angle have a very disappointing drawback: all of them have singularities. This means that if the instance is too close to the singularities corresponding to the given rotation order, it will be impossible to retrieve the angles. For Cardan angles, this is often called gimbal lock. There is nothing to do to prevent this, it is an intrinsic problem with Cardan and Euler representation (but not a problem with the rotation itself, which is perfectly well defined). For Cardan angles, singularities occur when the second angle is close to -π/2 or +π/2, for Euler angle singularities occur when the second angle is close to 0 or π, this implies that the identity rotation is always singular for Euler angles!

Parameters:
order - rotation order to use
Returns:
an array of three angles, in the order specified by the set
Throws:
CardanEulerSingularityException - if the rotation is singular with respect to the angles set specified

getMatrix

public double[][] getMatrix()
Get the 3X3 matrix corresponding to the instance

Returns:
the matrix corresponding to the instance

applyTo

public Vector3D applyTo(Vector3D u)
Apply the rotation to a vector.

Parameters:
u - vector to apply the rotation to
Returns:
a new vector which is the image of u by the rotation

applyTo

public void applyTo(double[] in,
                    double[] out)
Apply the rotation to a vector stored in an array.

Parameters:
in - an array with three items which stores vector to rotate
out - an array with three items to put result to (it can be the same array as in)

applyInverseTo

public Vector3D applyInverseTo(Vector3D u)
Apply the inverse of the rotation to a vector.

Parameters:
u - vector to apply the inverse of the rotation to
Returns:
a new vector which such that u is its image by the rotation

applyInverseTo

public void applyInverseTo(double[] in,
                           double[] out)
Apply the inverse of the rotation to a vector stored in an array.

Parameters:
in - an array with three items which stores vector to rotate
out - an array with three items to put result to (it can be the same array as in)

applyTo

public Rotation applyTo(Rotation r)
Apply the instance to another rotation. Applying the instance to a rotation is computing the composition in an order compliant with the following rule : let u be any vector and v its image by r (i.e. r.applyTo(u) = v), let w be the image of v by the instance (i.e. applyTo(v) = w), then w = comp.applyTo(u), where comp = applyTo(r).

Parameters:
r - rotation to apply the rotation to
Returns:
a new rotation which is the composition of r by the instance

applyInverseTo

public Rotation applyInverseTo(Rotation r)
Apply the inverse of the instance to another rotation. Applying the inverse of the instance to a rotation is computing the composition in an order compliant with the following rule : let u be any vector and v its image by r (i.e. r.applyTo(u) = v), let w be the inverse image of v by the instance (i.e. applyInverseTo(v) = w), then w = comp.applyTo(u), where comp = applyInverseTo(r).

Parameters:
r - rotation to apply the rotation to
Returns:
a new rotation which is the composition of r by the inverse of the instance

distance

public static double distance(Rotation r1,
                              Rotation r2)
Compute the distance between two rotations.

The distance is intended here as a way to check if two rotations are almost similar (i.e. they transform vectors the same way) or very different. It is mathematically defined as the angle of the rotation r that prepended to one of the rotations gives the other one:

        r1(r) = r2
 

This distance is an angle between 0 and π. Its value is the smallest possible upper bound of the angle in radians between r1(v) and r2(v) for all possible vectors v. This upper bound is reached for some v. The distance is equal to 0 if and only if the two rotations are identical.

Comparing two rotations should always be done using this value rather than for example comparing the components of the quaternions. It is much more stable, and has a geometric meaning. Also comparing quaternions components is error prone since for example quaternions (0.36, 0.48, -0.48, -0.64) and (-0.36, -0.48, 0.48, 0.64) represent exactly the same rotation despite their components are different (they are exact opposites).

Parameters:
r1 - first rotation
r2 - second rotation
Returns:
distance between r1 and r2


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