| /* |
| * Licensed to the Apache Software Foundation (ASF) under one or more |
| * contributor license agreements. See the NOTICE file distributed with |
| * this work for additional information regarding copyright ownership. |
| * The ASF licenses this file to You under the Apache License, Version 2.0 |
| * (the "License"); you may not use this file except in compliance with |
| * the License. You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| package org.apache.commons.math.geometry; |
| |
| /** |
| * 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 {@link Rotation#Rotation(RotationOrder,double,double,double)} |
| * constructor or the {@link Rotation#getAngles} method. |
| * |
| * @version $Revision: 811827 $ $Date: 2009-09-06 17:32:50 +0200 (dim. 06 sept. 2009) $ |
| * @since 1.2 |
| */ |
| public final class RotationOrder { |
| |
| /** Set of Cardan angles. |
| * this ordered set of rotations is around X, then around Y, then |
| * around Z |
| */ |
| public static final RotationOrder XYZ = |
| new RotationOrder("XYZ", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_K); |
| |
| /** Set of Cardan angles. |
| * this ordered set of rotations is around X, then around Z, then |
| * around Y |
| */ |
| public static final RotationOrder XZY = |
| new RotationOrder("XZY", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_J); |
| |
| /** Set of Cardan angles. |
| * this ordered set of rotations is around Y, then around X, then |
| * around Z |
| */ |
| public static final RotationOrder YXZ = |
| new RotationOrder("YXZ", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_K); |
| |
| /** Set of Cardan angles. |
| * this ordered set of rotations is around Y, then around Z, then |
| * around X |
| */ |
| public static final RotationOrder YZX = |
| new RotationOrder("YZX", Vector3D.PLUS_J, Vector3D.PLUS_K, Vector3D.PLUS_I); |
| |
| /** Set of Cardan angles. |
| * this ordered set of rotations is around Z, then around X, then |
| * around Y |
| */ |
| public static final RotationOrder ZXY = |
| new RotationOrder("ZXY", Vector3D.PLUS_K, Vector3D.PLUS_I, Vector3D.PLUS_J); |
| |
| /** Set of Cardan angles. |
| * this ordered set of rotations is around Z, then around Y, then |
| * around X |
| */ |
| public static final RotationOrder ZYX = |
| new RotationOrder("ZYX", Vector3D.PLUS_K, Vector3D.PLUS_J, Vector3D.PLUS_I); |
| |
| /** Set of Euler angles. |
| * this ordered set of rotations is around X, then around Y, then |
| * around X |
| */ |
| public static final RotationOrder XYX = |
| new RotationOrder("XYX", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_I); |
| |
| /** Set of Euler angles. |
| * this ordered set of rotations is around X, then around Z, then |
| * around X |
| */ |
| public static final RotationOrder XZX = |
| new RotationOrder("XZX", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_I); |
| |
| /** Set of Euler angles. |
| * this ordered set of rotations is around Y, then around X, then |
| * around Y |
| */ |
| public static final RotationOrder YXY = |
| new RotationOrder("YXY", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_J); |
| |
| /** Set of Euler angles. |
| * this ordered set of rotations is around Y, then around Z, then |
| * around Y |
| */ |
| public static final RotationOrder YZY = |
| new RotationOrder("YZY", Vector3D.PLUS_J, Vector3D.PLUS_K, Vector3D.PLUS_J); |
| |
| /** Set of Euler angles. |
| * this ordered set of rotations is around Z, then around X, then |
| * around Z |
| */ |
| public static final RotationOrder ZXZ = |
| new RotationOrder("ZXZ", Vector3D.PLUS_K, Vector3D.PLUS_I, Vector3D.PLUS_K); |
| |
| /** Set of Euler angles. |
| * this ordered set of rotations is around Z, then around Y, then |
| * around Z |
| */ |
| public static final RotationOrder ZYZ = |
| new RotationOrder("ZYZ", Vector3D.PLUS_K, Vector3D.PLUS_J, Vector3D.PLUS_K); |
| |
| /** Name of the rotations order. */ |
| private final String name; |
| |
| /** Axis of the first rotation. */ |
| private final Vector3D a1; |
| |
| /** Axis of the second rotation. */ |
| private final Vector3D a2; |
| |
| /** Axis of the third rotation. */ |
| private final Vector3D a3; |
| |
| /** Private constructor. |
| * This is a utility class that cannot be instantiated by the user, |
| * so its only constructor is private. |
| * @param name name of the rotation order |
| * @param a1 axis of the first rotation |
| * @param a2 axis of the second rotation |
| * @param a3 axis of the third rotation |
| */ |
| private RotationOrder(final String name, |
| final Vector3D a1, final Vector3D a2, final Vector3D a3) { |
| this.name = name; |
| this.a1 = a1; |
| this.a2 = a2; |
| this.a3 = a3; |
| } |
| |
| /** Get a string representation of the instance. |
| * @return a string representation of the instance (in fact, its name) |
| */ |
| @Override |
| public String toString() { |
| return name; |
| } |
| |
| /** Get the axis of the first rotation. |
| * @return axis of the first rotation |
| */ |
| public Vector3D getA1() { |
| return a1; |
| } |
| |
| /** Get the axis of the second rotation. |
| * @return axis of the second rotation |
| */ |
| public Vector3D getA2() { |
| return a2; |
| } |
| |
| /** Get the axis of the second rotation. |
| * @return axis of the second rotation |
| */ |
| public Vector3D getA3() { |
| return a3; |
| } |
| |
| } |