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

This package provides components related to rotations in 3 dimensional Euclidean space.

See: Description

Interface Summary

Interface	Description
Rotation3D	Interface representing a generic rotation in 3-dimensional Euclidean space.

Class Summary

Class	Description
AxisAngleSequence	Class representing a sequence of axis-angle rotations.
QuaternionRotation	Class using a unit-length quaternion to represent rotations in 3-dimensional Euclidean space.

Enum Summary

Enum	Description
AxisReferenceFrame	Enum defining the possible reference frames for locating axis positions during a rotation sequence.
AxisSequence	Enum containing rotation axis sequences for use in defining 3 dimensional rotations.
AxisSequenceType	Defines different types of rotation axis sequences.

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

This package provides components related to rotations in 3 dimensional Euclidean space.

Conventions

There are numerous conventions that must be decided when attempting to define 3-dimensional rotations. The following list contains some of the primary rotation conventions for this package. All method parameters, return values, and operations follow these conventions unless explicitly stated otherwise.

• Active -- All rotations are "active", meaning that they transform the vector or point they are applied to instead of transforming the coordinate system. An active rotation can be converted to a passive one and vice versa simply by taking the inverse. See here for more details.
• Right-handed -- All rotation directions follow the right hand rule. This means that the direction of rotation for a given axis and angle is the same direction that one's fingers curl if the thumb is pointed along the axis of rotation.
• Radians -- All angles are in radians.