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

public final Class RotationOrder

extends Object
Class Inheritance
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 method.
Since
1.2

Field Summary

Modifier and TypeField and Description
private final Vector3D
a1

Axis of the first rotation.

private final Vector3D
a2

Axis of the second rotation.

private final Vector3D
a3

Axis of the third rotation.

private final String
name

Name of the rotations order.

public static final RotationOrder
XYX

Set of Euler angles.

public static final RotationOrder
XYZ

Set of Cardan angles.

public static final RotationOrder
XZX

Set of Euler angles.

public static final RotationOrder
XZY

Set of Cardan angles.

public static final RotationOrder
YXY

Set of Euler angles.

public static final RotationOrder
YXZ

Set of Cardan angles.

public static final RotationOrder
YZX

Set of Cardan angles.

public static final RotationOrder
YZY

Set of Euler angles.

public static final RotationOrder
ZXY

Set of Cardan angles.

public static final RotationOrder
ZXZ

Set of Euler angles.

public static final RotationOrder
ZYX

Set of Cardan angles.

public static final RotationOrder
ZYZ

Set of Euler angles.

Constructor Summary

AccessConstructor and Description
private
RotationOrder(final String
name of the rotation order
name, final Vector3D
axis of the first rotation
a1, final Vector3D
axis of the second rotation
a2, final Vector3D
axis of the third rotation
a3)

Private constructor.

Method Summary

Modifier and TypeMethod and Description
public Vector3D

Returns:

axis of the first rotation
getA1()

Get the axis of the first rotation.

public Vector3D

Returns:

axis of the second rotation
getA2()

Get the axis of the second rotation.

public Vector3D

Returns:

axis of the second rotation
getA3()

Get the axis of the second rotation.

public String

Returns:

a string representation of the instance (in fact, its name)
toString()

Overrides java.lang.Object.toString.

Get a string representation of the instance.

Inherited from java.lang.Object:
cloneequalsfinalizegetClasshashCodenotifynotifyAllwaitwaitwait

Field Detail

a1back to summary
private final Vector3D a1

Axis of the first rotation.

a2back to summary
private final Vector3D a2

Axis of the second rotation.

a3back to summary
private final Vector3D a3

Axis of the third rotation.

nameback to summary
private final String name

Name of the rotations order.

XYXback to summary
public static final RotationOrder XYX

Set of Euler angles. this ordered set of rotations is around X, then around Y, then around X

XYZback to summary
public static final RotationOrder XYZ

Set of Cardan angles. this ordered set of rotations is around X, then around Y, then around Z

XZXback to summary
public static final RotationOrder XZX

Set of Euler angles. this ordered set of rotations is around X, then around Z, then around X

XZYback to summary
public static final RotationOrder XZY

Set of Cardan angles. this ordered set of rotations is around X, then around Z, then around Y

YXYback to summary
public static final RotationOrder YXY

Set of Euler angles. this ordered set of rotations is around Y, then around X, then around Y

YXZback to summary
public static final RotationOrder YXZ

Set of Cardan angles. this ordered set of rotations is around Y, then around X, then around Z

YZXback to summary
public static final RotationOrder YZX

Set of Cardan angles. this ordered set of rotations is around Y, then around Z, then around X

YZYback to summary
public static final RotationOrder YZY

Set of Euler angles. this ordered set of rotations is around Y, then around Z, then around Y

ZXYback to summary
public static final RotationOrder ZXY

Set of Cardan angles. this ordered set of rotations is around Z, then around X, then around Y

ZXZback to summary
public static final RotationOrder ZXZ

Set of Euler angles. this ordered set of rotations is around Z, then around X, then around Z

ZYXback to summary
public static final RotationOrder ZYX

Set of Cardan angles. this ordered set of rotations is around Z, then around Y, then around X

ZYZback to summary
public static final RotationOrder ZYZ

Set of Euler angles. this ordered set of rotations is around Z, then around Y, then around Z

Constructor Detail

RotationOrderback to summary
private RotationOrder(final String name, final Vector3D a1, final Vector3D a2, final Vector3D a3)

Private constructor. This is a utility class that cannot be instantiated by the user, so its only constructor is private.

Parameters
name:String

name of the rotation order

a1:Vector3D

axis of the first rotation

a2:Vector3D

axis of the second rotation

a3:Vector3D

axis of the third rotation

Method Detail

getA1back to summary
public Vector3D getA1()

Get the axis of the first rotation.

Returns:Vector3D

axis of the first rotation

getA2back to summary
public Vector3D getA2()

Get the axis of the second rotation.

Returns:Vector3D

axis of the second rotation

getA3back to summary
public Vector3D getA3()

Get the axis of the second rotation.

Returns:Vector3D

axis of the second rotation

toStringback to summary
public String toString()

Overrides java.lang.Object.toString.

Get a string representation of the instance.

Returns:String

a string representation of the instance (in fact, its name)

Annotations
@Override