Package jahuwaldt.js.param
Interface Rotation<T extends Rotation<?>>
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- 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
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Method Summary
All Methods Instance Methods Abstract Methods Modifier and Type Method 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 javax.measure.quantity.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.
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Method Detail
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transform
<Q extends javax.measure.quantity.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.
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transpose
T transpose()
Returns the spatial inverse of this transformation: AB rather than BA.- Returns:
this'
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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
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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)
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toQuaternion
Quaternion toQuaternion()
Returns a quaternion representing this attitude transformation.- Returns:
- a quaternion that converts from frame A to B.
- See Also:
- > Wikipedia: Quaternion
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