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

Class RotationOrder

java.lang.Object
org.apache.commons.math3.geometry.euclidean.threed.RotationOrder
public final class RotationOrder extends Object
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(RotationOrder,double,double,double) constructor or the Rotation.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder) method.
Since:
1.2

  • Field Details

    • XYZ

      public static final RotationOrder XYZ
      Set of Cardan angles. this ordered set of rotations is around X, then around Y, then around Z

    • XZY

      public static final RotationOrder XZY
      Set of Cardan angles. this ordered set of rotations is around X, then around Z, then around Y

    • YXZ

      public static final RotationOrder YXZ
      Set of Cardan angles. this ordered set of rotations is around Y, then around X, then around Z

    • YZX

      public static final RotationOrder YZX
      Set of Cardan angles. this ordered set of rotations is around Y, then around Z, then around X

    • ZXY

      public static final RotationOrder ZXY
      Set of Cardan angles. this ordered set of rotations is around Z, then around X, then around Y

    • ZYX

      public static final RotationOrder ZYX
      Set of Cardan angles. this ordered set of rotations is around Z, then around Y, then around X

    • XYX

      public static final RotationOrder XYX
      Set of Euler angles. this ordered set of rotations is around X, then around Y, then around X

    • XZX

      public static final RotationOrder XZX
      Set of Euler angles. this ordered set of rotations is around X, then around Z, then around X

    • YXY

      public static final RotationOrder YXY
      Set of Euler angles. this ordered set of rotations is around Y, then around X, then around Y

    • YZY

      public static final RotationOrder YZY
      Set of Euler angles. this ordered set of rotations is around Y, then around Z, then around Y

    • ZXZ

      public static final RotationOrder ZXZ
      Set of Euler angles. this ordered set of rotations is around Z, then around X, then around Z

    • ZYZ

      public static final RotationOrder ZYZ
      Set of Euler angles. this ordered set of rotations is around Z, then around Y, then around Z

  • Method Details

    • toString

      public String toString()
      Get a string representation of the instance.
      Overrides:
      toString in class Object
      Returns:
      a string representation of the instance (in fact, its name)

    • getA1

      public Vector3D getA1()
      Get the axis of the first rotation.
      Returns:
      axis of the first rotation

    • getA2

      public Vector3D getA2()
      Get the axis of the second rotation.
      Returns:
      axis of the second rotation

    • getA3

      public Vector3D getA3()
      Get the axis of the second rotation.
      Returns:
      axis of the second rotation