Package jahuwaldt.js.param

Class AbstractRotation<T extends AbstractRotation<?>>

  • All Implemented Interfaces:
    Rotation<T>, javolution.lang.Immutable, javolution.lang.Realtime, javolution.lang.ValueType
    Direct Known Subclasses:
    AxisAngle, DCMatrix, EulerAngles, Quaternion
    public abstract class AbstractRotation<T extends AbstractRotation<?>>
extends java.lang.Object
implements Rotation<T>

    This class represents a partial implementation of a Rotation object.

    Modified by: Joseph A. Huwaldt

    Version:
    February 23, 2025
    Author:
    Joseph A. Huwaldt Date: October 22, 2009

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      static DCMatrix getEulerTM​(javax.measure.Measurable<javax.measure.quantity.Angle> psi, javax.measure.Measurable<javax.measure.quantity.Angle> theta, javax.measure.Measurable<javax.measure.quantity.Angle> phi)
      Returns the direction cosine T.M.
      static DCMatrix getPsiThetaTM​(Polar3D<?> coord)
      Returns the direction cosine T.M.
      static DCMatrix getPsiThetaTM​(javax.measure.Measurable<javax.measure.quantity.Angle> psi, javax.measure.Measurable<javax.measure.quantity.Angle> theta)
      Returns the direction cosine T.M.
      boolean isApproxEqual​(Rotation<?> obj)
      Compares this Rotation against the specified Rotation for approximate equality (a Rotation object with DCM values equal to this one to within the numerical roundoff tolerance).
      java.lang.String toString()
      Returns the text representation of this rotation transform as a java.lang.String.

      • Methods inherited from class java.lang.Object

        equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

      • Methods inherited from interface javolution.lang.Realtime

        toText

    • Method Detail

      • getPsiThetaTM

        public static DCMatrix getPsiThetaTM​(javax.measure.Measurable<javax.measure.quantity.Angle> psi,
                                     javax.measure.Measurable<javax.measure.quantity.Angle> theta)
        Returns the direction cosine T.M. of the aerospace psi->theta Euler sequence.
        Parameters:
        psi - First rotation angle.
        theta - Second rotation angle.
        Returns:
        the 3x3 transformation matrix

      • getPsiThetaTM

        public static DCMatrix getPsiThetaTM​(Polar3D<?> coord)
        Returns the direction cosine T.M. of the aerospace psi->theta Euler sequence from a polar coordinate.
        Parameters:
        coord - A polar coordinate (magnitude, psi=azimuth, theta=elevation).
        Returns:
        the 3x3 transformation matrix

      • getEulerTM

        public static DCMatrix getEulerTM​(javax.measure.Measurable<javax.measure.quantity.Angle> psi,
                                  javax.measure.Measurable<javax.measure.quantity.Angle> theta,
                                  javax.measure.Measurable<javax.measure.quantity.Angle> phi)
        Returns the direction cosine T.M. of the aerospace Euler 3-2-1 (psi->theta-phi) rotation sequence. The Euler angle transformation matrix of flight mechanics.
        Parameters:
        psi - First rotation angle.
        theta - Second rotation angle.
        phi - Third rotation angle.
        Returns:
        the 3x3 transformation matrix

      • toString

        public final java.lang.String toString()
        Returns the text representation of this rotation transform as a java.lang.String.
        Overrides:
        toString in class java.lang.Object
        Returns:
        toText().toString()

      • isApproxEqual

        public boolean isApproxEqual​(Rotation<?> obj)
        Compares this Rotation against the specified Rotation for approximate equality (a Rotation object with DCM values equal to this one to within the numerical roundoff tolerance).
        Parameters:
        obj - the Rotation object to compare with.
        Returns:
        true if this Rotation is approximately identical to that Rotation; false otherwise.