jahuwaldt.js.param

Interface Rotation<T extends Rotation<?>>

All Superinterfaces:

javolution.lang.Immutable, javolution.lang.Realtime, javolution.lang.ValueType

All Known Implementing Classes:

AbstractRotation, AxisAngle, DCMatrix, EulerAngles, Quaternion

public interface Rotation<T extends Rotation<?>>
extends javolution.lang.ValueType, javolution.lang.Realtime

This class 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).

Modified by: Joseph A. Huwaldt

Version:

December 12, 2013

Author:

Joseph A. Huwaldt Date: October 22, 2009

Field Summary

Fields

Modifier and Type	Field and Description
static Rotation	IDENTITY A Rotation object that represents no relative change in orientation.

Method Summary

Modifier and Type	Method and Description
T	copy() Returns an independent copy of this attitude transform.
T	times(Rotation<?> that) Returns the product of this attitude transformation and another.
DCMatrix	toDCM() Returns a direction cosine transformation matrix from this attitude transformation.
Quaternion	toQuaternion() Returns a quaternion representing this attitude transformation.
<Q extends Quantity> Vector3D<Q>	transform(Coordinate3D<Q> v) Transforms a 3D vector from frame A to B using this attitude transformation.
T	transpose() Returns the spatial inverse of this transformation: AB rather than BA.

Methods inherited from interface javolution.lang.Realtime

toText

Field Detail

IDENTITY

static final Rotation IDENTITY

A Rotation object that represents no relative change in orientation.

Method Detail

transform

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

Transforms a 3D vector from frame A to B using this attitude transformation.

Parameters:

v - the vector expressed in frame A.

Returns:

the vector expressed in frame B.

transpose

T transpose()

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

Returns:

this'

times

T times(Rotation<?> that)

Returns the product of this attitude transformation and another. If this attitude transform is BA and that is AC then the returned value is: BC = BA · AC (or C2B = A2B · C2A).

Parameters:

that - the attitude transform multiplier.

Returns:

this · that

toDCM

DCMatrix toDCM()

Returns a direction cosine transformation matrix from this attitude transformation.

Returns:

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

See Also:

Wikipedia: Rotation representation (mathematics)

toQuaternion

Quaternion toQuaternion()

Returns a quaternion representing this attitude transformation.

Returns:

a quaternion that converts from frame A to B.

See Also:

> Wikipedia: Quaternion

copy

T copy()

Returns an independent copy of this attitude transform.

Specified by:

copy in interface javolution.lang.ValueType

Returns:

an object identical to this object but allocated by the calling thread (e.g. on the "stack" of the calling thread).