Apache Commons Math 3.6.1 · org.apache.commons.math3.geometry.euclidean.threed.FieldRotation

Modifier and Type	Field and Description
private final T	q0 Scalar coordinate of the quaternion.
private final T	q1 First coordinate of the vectorial part of the quaternion.
private final T	q2 Second coordinate of the vectorial part of the quaternion.
private final T	q3 Third coordinate of the vectorial part of the quaternion.
private static final long	serialVersionUID Serializable version identifier

Constructor Summary

Access	Constructor and Description
public	FieldRotation(final T scalar part of the quaternion q0, final T first coordinate of the vectorial part of the quaternion q1, final T second coordinate of the vectorial part of the quaternion q2, final T third coordinate of the vectorial part of the quaternion q3, final boolean if true, the coordinates are considered not to be normalized, a normalization preprocessing step is performed before using them needsNormalization) Build a rotation from the quaternion coordinates.
public	FieldRotation(final FieldVector3D<T> axis around which to rotate axis, final T rotation angle. angle) Deprecated as of 3.6, replaced with `FieldRotation(FieldVector3D, RealFieldElement, RotationConvention)` Build a rotation from an axis and an angle.
public	FieldRotation(final FieldVector3D<T> axis around which to rotate axis, final T rotation angle. angle, final RotationConvention convention to use for the semantics of the angle convention) Build a rotation from an axis and an angle.
public	FieldRotation(final T[][] rotation matrix m, final double 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) threshold) Build a rotation from a 3X3 matrix.
public	FieldRotation(FieldVector3D<T> first vector of the origin pair u1, FieldVector3D<T> second vector of the origin pair u2, FieldVector3D<T> desired image of u1 by the rotation v1, FieldVector3D<T> desired image of u2 by the rotation v2) Build the rotation that transforms a pair of vectors into another pair.
public	FieldRotation(final FieldVector3D<T> origin vector u, final FieldVector3D<T> desired image of u by the rotation v) Build one of the rotations that transform one vector into another one.
public	FieldRotation(final RotationOrder order of rotations to use order, final T angle of the first elementary rotation alpha1, final T angle of the second elementary rotation alpha2, final T angle of the third elementary rotation alpha3) Deprecated as of 3.6, replaced with `FieldRotation(RotationOrder, RotationConvention, RealFieldElement, RealFieldElement, RealFieldElement)` Build a rotation from three Cardan or Euler elementary rotations.
public	FieldRotation(final RotationOrder order of rotations to compose, from left to right (i.e. we will use `r1.compose(r2.compose(r3, convention), convention)`) order, final RotationConvention convention to use for the semantics of the angle convention, final T angle of the first elementary rotation alpha1, final T angle of the second elementary rotation alpha2, final T angle of the third elementary rotation alpha3) Build a rotation from three Cardan or Euler elementary rotations.

Method Summary

Modifier and Type	Method and Description
public FieldVector3D<T>	Returns: a new vector which such that u is its image by the rotation applyInverseTo(final FieldVector3D<T> vector to apply the inverse of the rotation to u) Apply the inverse of the rotation to a vector.
public FieldVector3D<T>	Returns: a new vector which such that u is its image by the rotation applyInverseTo(final Vector3D vector to apply the inverse of the rotation to u) Apply the inverse of the rotation to a vector.
public void	applyInverseTo(final T[] an array with three items which stores vector to rotate in, final T[] an array with three items to put result to (it can be the same array as in) out) Apply the inverse of the rotation to a vector stored in an array.
public void	applyInverseTo(final double[] an array with three items which stores vector to rotate in, final T[] an array with three items to put result to out) Apply the inverse of the rotation to a vector stored in an array.
public static < the type of the field elements T extends RealFieldElement<T>> FieldVector3D<T>	Returns: a new vector which such that u is its image by the rotation applyInverseTo(final Rotation rotation to apply r, final FieldVector3D<T> vector to apply the inverse of the rotation to u) Apply the inverse of a rotation to a vector.
public FieldRotation<T>	Returns: a new rotation which is the composition of r by the inverse of the instance applyInverseTo(final FieldRotation<T> rotation to apply the rotation to r) Apply the inverse of the instance to another rotation.
public FieldRotation<T>	Returns: a new rotation which is the composition of r by the inverse of the instance applyInverseTo(final Rotation rotation to apply the rotation to r) Apply the inverse of the instance to another rotation.
public static < the type of the field elements T extends RealFieldElement<T>> FieldRotation<T>	Returns: a new rotation which is the composition of r by the inverse of the instance applyInverseTo(final Rotation rotation to apply the rotation to rOuter, final FieldRotation<T> rotation to apply the rotation to rInner) Apply the inverse of a rotation to another rotation.
public FieldVector3D<T>	Returns: a new vector which is the image of u by the rotation applyTo(final FieldVector3D<T> vector to apply the rotation to u) Apply the rotation to a vector.
public FieldVector3D<T>	Returns: a new vector which is the image of u by the rotation applyTo(final Vector3D vector to apply the rotation to u) Apply the rotation to a vector.
public void	applyTo(final T[] an array with three items which stores vector to rotate in, final T[] an array with three items to put result to (it can be the same array as in) out) Apply the rotation to a vector stored in an array.
public void	applyTo(final double[] an array with three items which stores vector to rotate in, final T[] an array with three items to put result to out) Apply the rotation to a vector stored in an array.
public static < the type of the field elements T extends RealFieldElement<T>> FieldVector3D<T>	Returns: a new vector which is the image of u by the rotation applyTo(final Rotation rotation to apply r, final FieldVector3D<T> vector to apply the rotation to u) Apply a rotation to a vector.
public FieldRotation<T>	Returns: a new rotation which is the composition of r by the instance applyTo(final FieldRotation<T> rotation to apply the rotation to r) Apply the instance to another rotation.
public FieldRotation<T>	Returns: a new rotation which is the composition of r by the instance applyTo(final Rotation rotation to apply the rotation to r) Apply the instance to another rotation.
public static < the type of the field elements T extends RealFieldElement<T>> FieldRotation<T>	Returns: a new rotation which is the composition of r by the instance applyTo(final Rotation rotation to apply r1, final FieldRotation<T> rotation to apply the rotation to rInner) Apply a rotation to another rotation.
private T[]	Returns: new array buildArray(final T first array element a0, final T second array element a1, final T third array element a2) Create a dimension 3 array.
public FieldRotation<T>	Returns: a new rotation which is the composition of r by the instance compose(final FieldRotation<T> rotation to apply the rotation to r, final RotationConvention convention to use for the semantics of the angle convention) Compose the instance with another rotation.
public FieldRotation<T>	Returns: a new rotation which is the composition of r by the instance compose(final Rotation rotation to apply the rotation to r, final RotationConvention convention to use for the semantics of the angle convention) Compose the instance with another rotation.
private FieldRotation<T>	Returns: a new rotation which is the composition of r by the instance using vector operator convention composeInternal(final FieldRotation<T> rotation to apply the rotation to r) Compose the instance with another rotation using vector operator convention.
private FieldRotation<T>	Returns: a new rotation which is the composition of r by the instance using vector operator convention composeInternal(final Rotation rotation to apply the rotation to r) Compose the instance with another rotation using vector operator convention.
public FieldRotation<T>	Returns: a new rotation which is the composition of r by the inverse of the instance composeInverse(final FieldRotation<T> rotation to apply the rotation to r, final RotationConvention convention to use for the semantics of the angle convention) Compose the inverse of the instance with another rotation.
public FieldRotation<T>	Returns: a new rotation which is the composition of r by the inverse of the instance composeInverse(final Rotation rotation to apply the rotation to r, final RotationConvention convention to use for the semantics of the angle convention) Compose the inverse of the instance with another rotation.
private FieldRotation<T>	Returns: a new rotation which is the composition of r by the inverse of the instance using vector operator convention composeInverseInternal(FieldRotation<T> rotation to apply the rotation to r) Compose the inverse of the instance with another rotation using vector operator convention.
private FieldRotation<T>	Returns: a new rotation which is the composition of r by the inverse of the instance using vector operator convention composeInverseInternal(Rotation rotation to apply the rotation to r) Compose the inverse of the instance with another rotation using vector operator convention.
public static < the type of the field elements T extends RealFieldElement<T>> T	Returns: distance between r1 and r2 distance(final FieldRotation<T> first rotation r1, final FieldRotation<T> second rotation r2) Compute the distance between two rotations.
public T	Returns: angle of the rotation (between 0 and π) getAngle() Get the angle of the rotation.
public T[]	Returns: an array of three angles, in the order specified by the set getAngles(final RotationOrder rotation order to use order) Deprecated as of 3.6, replaced with `getAngles(RotationOrder, RotationConvention)` Get the Cardan or Euler angles corresponding to the instance.
public T[]	Returns: an array of three angles, in the order specified by the set getAngles(final RotationOrder rotation order to use order, RotationConvention convention to use for the semantics of the angle convention) Get the Cardan or Euler angles corresponding to the instance.
public FieldVector3D<T>	Returns: normalized axis of the rotation getAxis() Deprecated as of 3.6, replaced with `getAxis(RotationConvention)` Get the normalized axis of the rotation.
public FieldVector3D<T>	Returns: normalized axis of the rotation getAxis(final RotationConvention convention to use for the semantics of the angle convention) Get the normalized axis of the rotation.
public T[][]	Returns: the matrix corresponding to the instance getMatrix() Get the 3X3 matrix corresponding to the instance
public T	Returns: scalar coordinate of the quaternion getQ0() Get the scalar coordinate of the quaternion.
public T	Returns: first coordinate of the vectorial part of the quaternion getQ1() Get the first coordinate of the vectorial part of the quaternion.
public T	Returns: second coordinate of the vectorial part of the quaternion getQ2() Get the second coordinate of the vectorial part of the quaternion.
public T	Returns: third coordinate of the vectorial part of the quaternion getQ3() Get the third coordinate of the vectorial part of the quaternion.
private T[]	Returns: quaternion corresponding to the matrix mat2quat(final T[][] orthogonal rotation matrix ort) Convert an orthogonal rotation matrix to a quaternion.
private T[][]	Returns: an orthogonal matrix close to m orthogonalizeMatrix(final T[][] initial matrix (not exactly orthogonal) m, final double 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) threshold) Perfect orthogonality on a 3X3 matrix.
public FieldRotation<T>	Returns: a new rotation whose effect is the reverse of the effect of the instance revert() Revert a rotation.
public Rotation	Returns: a constant vector toRotation() Convert to a constant vector without derivatives.
private FieldVector3D<T>	Returns: a constant vector vector(final double abscissa x, final double ordinate y, final double height z) Create a constant vector.

Inherited from java.lang.Object:: clone equals finalize getClass hashCode notify notifyAll toString wait wait wait

public Class FieldRotation<T extends RealFieldElement<T>>

Field Summary

Constructor Summary

Method Summary