org.apache.commons.geometry.euclidean.threed.rotation

Interface Rotation3D

All Superinterfaces:

EuclideanTransform<Vector3D>, Function<Vector3D,Vector3D>, Transform<Vector3D>, UnaryOperator<Vector3D>

All Known Implementing Classes:

QuaternionRotation

public interface Rotation3D
extends EuclideanTransform<Vector3D>

Interface representing a generic rotation in 3-dimensional Euclidean space.

Method Summary

Modifier and Type	Method and Description
Vector3D	apply(Vector3D vec) Apply this rotation to the given argument.
double	getAngle() Get the angle of rotation in radians.
Vector3D	getAxis() Get the axis of rotation as a normalized Vector3D.
Rotation3D	inverse() Get the inverse rotation.

Methods inherited from interface org.apache.commons.geometry.euclidean.EuclideanTransform

applyVector

Methods inherited from interface org.apache.commons.geometry.core.Transform

preservesOrientation

Methods inherited from interface java.util.function.UnaryOperator

identity

Methods inherited from interface java.util.function.Function

andThen, compose

Method Detail

apply

Vector3D apply(Vector3D vec)

Apply this rotation to the given argument. Since rotations do not affect vector magnitudes, this method can be applied to both points and vectors.

Specified by:

apply in interface Function<Vector3D,Vector3D>

Parameters:

vec - the point or vector to rotate

Returns:

a new instance representing the rotated point or vector

inverse

Rotation3D inverse()

Get the inverse rotation.

Specified by:

inverse in interface Transform<Vector3D>

Returns:

the inverse rotation.

getAxis

Vector3D getAxis()

Get the axis of rotation as a normalized Vector3D.

All 3-dimensional rotations and sequences of rotations can be reduced to a single rotation around one axis. This method returns that axis.

Returns:

the axis of rotation

See Also:

getAngle()

getAngle

double getAngle()

Get the angle of rotation in radians.

All 3-dimensional rotations and sequences of rotations can be reduced to a single rotation around one axis. This method returns the angle of rotation around that axis.

Returns:

angle of rotation in radians.

See Also:

getAxis()