jahuwaldt.js.param

Class AxisAngle

java.lang.Object

jahuwaldt.js.param.AbstractRotation<AxisAngle>

jahuwaldt.js.param.AxisAngle

All Implemented Interfaces:

j2me.io.Serializable, Rotation<AxisAngle>, javolution.lang.Immutable, javolution.lang.Realtime, javolution.lang.ValueType, javolution.xml.XMLSerializable

public final class AxisAngle
extends AbstractRotation<AxisAngle>
implements javolution.xml.XMLSerializable

This class represents a rotation axis and rotation angle made up of Float64 elements. AxisAngles may be used to represents a relative orientation (attitude or rotation transformation) between two different reference frames; B wrt A or BA. It can be used to transform coordinates in reference frame A to reference frame B (A2B).

Reference: Wikipedia: Axis angle

Modified by: Joseph A. Huwaldt

Version:

February 27, 2014

Author:

Joseph A. Huwaldt Date: October 22, 2009

Field Summary

Fields

Modifier and Type	Field and Description
static int	THETA The index to the angular component of this axis angle rotation representation.
static int	X The index to the vector X component of this axis angle rotation representation's axis.
static int	Y The index to the vector Y component of this axis angle rotation representation's axis.
static int	Z The index to the vector Z component of this axis angle rotation representation's axis.

Fields inherited from interface jahuwaldt.js.param.Rotation

IDENTITY

Method Summary

Modifier and Type	Method and Description
AxisAngle	copy() Returns a copy of this rotation transform allocated by the calling thread (possibly on the stack).
AxisAngle	divide(Rotation<?> that) Returns the division of this rotation transform with the specified rotation transform.
boolean	equals(java.lang.Object obj) Compares this AxisAngle against the specified object for strict equality (same rotation type and same values).
Parameter<Angle>	getAngle() Return the rotation angle.
Vector3D<Dimensionless>	getAxis() Returns the rotation axis part of this axis/angle rotation transformation as a unit vector.
int	hashCode() Returns the hash code for this rotation.
AxisAngle	times(Rotation<?> that) Returns the product of this rotation transform with the specified rotation transform.
DCMatrix	toDCM() Returns a direction cosine transformation matrix from this axis/angle rotation.
Quaternion	toQuaternion() Returns a quaternion representing this rotation transformation.
javolution.text.Text	toText() Returns the text representation of this rotation transform.
<Q extends Quantity> Vector3D<Q>	transform(Coordinate3D<Q> v) Transforms a 3D vector from frame A to B using this axis/angle rotation.
AxisAngle	transpose() Returns the spatial inverse of this transformation: AB rather than BA.
static AxisAngle	valueOf(Rotation<?> transform) Returns a new AxisAngle instance constructed from the specified rotation transform.
static AxisAngle	valueOf(Vector3D<?> axis, Parameter<Angle> angle) Returns a AxisAngle instance containing the specified rotation axis and rotation angle.

Methods inherited from class jahuwaldt.js.param.AbstractRotation

getEulerTM, getPsiThetaTM, getPsiThetaTM, isApproxEqual, toString

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Field Detail

X

public static final int X

The index to the vector X component of this axis angle rotation representation's axis.

See Also:

Constant Field Values

Y

public static final int Y

The index to the vector Y component of this axis angle rotation representation's axis.

See Also:

Constant Field Values

Z

public static final int Z

The index to the vector Z component of this axis angle rotation representation's axis.

See Also:

Constant Field Values

THETA

public static final int THETA

The index to the angular component of this axis angle rotation representation.

See Also:

Constant Field Values

Method Detail

valueOf

public static AxisAngle valueOf(Vector3D<?> axis,
                                Parameter<Angle> angle)

Returns a AxisAngle instance containing the specified rotation axis and rotation angle.

Parameters:

axis - The vector representing the rotation axis direction.

angle - The rotation angle about the rotation axis.

Returns:

The axis/angle rotation transformation having the specified values.

valueOf

public static AxisAngle valueOf(Rotation<?> transform)

Returns a new AxisAngle instance constructed from the specified rotation transform.

Parameters:

transform - The Rotation transform to convert to a new quaternion.

Returns:

the quaternion representing the specified attitude transform.

getAxis

public Vector3D<Dimensionless> getAxis()

Returns the rotation axis part of this axis/angle rotation transformation as a unit vector.

getAngle

public Parameter<Angle> getAngle()

Return the rotation angle.

transpose

public AxisAngle transpose()

Returns the spatial inverse of this transformation: AB rather than BA.

Specified by:

transpose in interface Rotation<AxisAngle>

Returns:

this' = this^*

times

public AxisAngle times(Rotation<?> that)

Returns the product of this rotation transform with the specified rotation transform. If this axis/angle rotation is BA and that is AC then the returned value is: BC = BA times AC (or C2B = A2B times C2A).

Specified by:

times in interface Rotation<AxisAngle>

Parameters:

that - the rotation transform multiplier.

Returns:

this times that

divide

public AxisAngle divide(Rotation<?> that)

Returns the division of this rotation transform with the specified rotation transform.

Parameters:

that - the rotation transform divisor.

Returns:

this / that

transform

public <Q extends Quantity> Vector3D<Q> transform(Coordinate3D<Q> v)

Transforms a 3D vector from frame A to B using this axis/angle rotation.

Specified by:

transform in interface Rotation<AxisAngle>

Parameters:

v - the vector expressed in frame A.

Returns:

the vector expressed in frame B.

toDCM

public DCMatrix toDCM()

Returns a direction cosine transformation matrix from this axis/angle rotation.

Specified by:

toDCM in interface Rotation<AxisAngle>

Returns:

a direction cosine matrix that converts from frame A to B.

See Also:

Wikipedia: Rotation Matrix-AxisAngle

toQuaternion

public Quaternion toQuaternion()

Returns a quaternion representing this rotation transformation.

Specified by:

toQuaternion in interface Rotation<AxisAngle>

Returns:

a quaternion that converts from frame A to B.

See Also:

> Wikipedia: AxisAngle

copy

public AxisAngle copy()

Returns a copy of this rotation transform allocated by the calling thread (possibly on the stack).

Specified by:

copy in interface Rotation<AxisAngle>

Specified by:

copy in interface javolution.lang.ValueType

Returns:

an identical and independent copy of this rotation transform.

toText

public javolution.text.Text toText()

Returns the text representation of this rotation transform.

Specified by:

toText in interface javolution.lang.Realtime

Returns:

the text representation of this rotation transform.

equals

public boolean equals(java.lang.Object obj)

Compares this AxisAngle against the specified object for strict equality (same rotation type and same values).

Overrides:

equals in class java.lang.Object

Parameters:

obj - the object to compare with.

Returns:

true if this rotation is identical to that rotation; false otherwise.

hashCode

public int hashCode()

Returns the hash code for this rotation.

Overrides:

hashCode in class java.lang.Object

Returns:

the hash code value.