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

java.lang.Object
  extended by 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 1416643 2012-12-03 19:37:14Z tn $

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


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