1dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond/* 2dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * Licensed to the Apache Software Foundation (ASF) under one or more 3dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * contributor license agreements. See the NOTICE file distributed with 4dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * this work for additional information regarding copyright ownership. 5dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * The ASF licenses this file to You under the Apache License, Version 2.0 6dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * (the "License"); you may not use this file except in compliance with 7dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * the License. You may obtain a copy of the License at 8dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * 9dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * http://www.apache.org/licenses/LICENSE-2.0 10dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * 11dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * Unless required by applicable law or agreed to in writing, software 12dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * distributed under the License is distributed on an "AS IS" BASIS, 13dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * See the License for the specific language governing permissions and 15dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * limitations under the License. 16dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 17dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 18dee0849a9704d532af0b550146cbafbaa6ee1d19Raymondpackage org.apache.commons.math.geometry; 19dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 20dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond/** 21dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * This class is a utility representing a rotation order specification 22dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * for Cardan or Euler angles specification. 23dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * 24dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * This class cannot be instanciated by the user. He can only use one 25dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * of the twelve predefined supported orders as an argument to either 26dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * the {@link Rotation#Rotation(RotationOrder,double,double,double)} 27dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * constructor or the {@link Rotation#getAngles} method. 28dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * 29dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * @version $Revision: 811827 $ $Date: 2009-09-06 17:32:50 +0200 (dim. 06 sept. 2009) $ 30dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * @since 1.2 31dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 32dee0849a9704d532af0b550146cbafbaa6ee1d19Raymondpublic final class RotationOrder { 33dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 34dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Set of Cardan angles. 35dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * this ordered set of rotations is around X, then around Y, then 36dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * around Z 37dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 38dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public static final RotationOrder XYZ = 39dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond new RotationOrder("XYZ", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_K); 40dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 41dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Set of Cardan angles. 42dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * this ordered set of rotations is around X, then around Z, then 43dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * around Y 44dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 45dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public static final RotationOrder XZY = 46dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond new RotationOrder("XZY", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_J); 47dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 48dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Set of Cardan angles. 49dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * this ordered set of rotations is around Y, then around X, then 50dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * around Z 51dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 52dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public static final RotationOrder YXZ = 53dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond new RotationOrder("YXZ", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_K); 54dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 55dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Set of Cardan angles. 56dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * this ordered set of rotations is around Y, then around Z, then 57dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * around X 58dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 59dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public static final RotationOrder YZX = 60dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond new RotationOrder("YZX", Vector3D.PLUS_J, Vector3D.PLUS_K, Vector3D.PLUS_I); 61dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 62dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Set of Cardan angles. 63dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * this ordered set of rotations is around Z, then around X, then 64dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * around Y 65dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 66dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public static final RotationOrder ZXY = 67dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond new RotationOrder("ZXY", Vector3D.PLUS_K, Vector3D.PLUS_I, Vector3D.PLUS_J); 68dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 69dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Set of Cardan angles. 70dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * this ordered set of rotations is around Z, then around Y, then 71dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * around X 72dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 73dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public static final RotationOrder ZYX = 74dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond new RotationOrder("ZYX", Vector3D.PLUS_K, Vector3D.PLUS_J, Vector3D.PLUS_I); 75dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 76dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Set of Euler angles. 77dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * this ordered set of rotations is around X, then around Y, then 78dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * around X 79dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 80dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public static final RotationOrder XYX = 81dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond new RotationOrder("XYX", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_I); 82dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 83dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Set of Euler angles. 84dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * this ordered set of rotations is around X, then around Z, then 85dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * around X 86dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 87dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public static final RotationOrder XZX = 88dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond new RotationOrder("XZX", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_I); 89dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 90dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Set of Euler angles. 91dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * this ordered set of rotations is around Y, then around X, then 92dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * around Y 93dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 94dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public static final RotationOrder YXY = 95dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond new RotationOrder("YXY", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_J); 96dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 97dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Set of Euler angles. 98dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * this ordered set of rotations is around Y, then around Z, then 99dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * around Y 100dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 101dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public static final RotationOrder YZY = 102dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond new RotationOrder("YZY", Vector3D.PLUS_J, Vector3D.PLUS_K, Vector3D.PLUS_J); 103dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 104dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Set of Euler angles. 105dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * this ordered set of rotations is around Z, then around X, then 106dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * around Z 107dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 108dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public static final RotationOrder ZXZ = 109dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond new RotationOrder("ZXZ", Vector3D.PLUS_K, Vector3D.PLUS_I, Vector3D.PLUS_K); 110dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 111dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Set of Euler angles. 112dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * this ordered set of rotations is around Z, then around Y, then 113dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * around Z 114dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 115dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public static final RotationOrder ZYZ = 116dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond new RotationOrder("ZYZ", Vector3D.PLUS_K, Vector3D.PLUS_J, Vector3D.PLUS_K); 117dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 118dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Name of the rotations order. */ 119dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond private final String name; 120dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 121dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Axis of the first rotation. */ 122dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond private final Vector3D a1; 123dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 124dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Axis of the second rotation. */ 125dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond private final Vector3D a2; 126dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 127dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Axis of the third rotation. */ 128dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond private final Vector3D a3; 129dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 130dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Private constructor. 131dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * This is a utility class that cannot be instantiated by the user, 132dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * so its only constructor is private. 133dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * @param name name of the rotation order 134dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * @param a1 axis of the first rotation 135dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * @param a2 axis of the second rotation 136dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * @param a3 axis of the third rotation 137dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 138dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond private RotationOrder(final String name, 139dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond final Vector3D a1, final Vector3D a2, final Vector3D a3) { 140dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond this.name = name; 141dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond this.a1 = a1; 142dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond this.a2 = a2; 143dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond this.a3 = a3; 144dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond } 145dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 146dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Get a string representation of the instance. 147dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * @return a string representation of the instance (in fact, its name) 148dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 149dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond @Override 150dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public String toString() { 151dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond return name; 152dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond } 153dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 154dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Get the axis of the first rotation. 155dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * @return axis of the first rotation 156dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 157dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public Vector3D getA1() { 158dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond return a1; 159dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond } 160dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 161dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Get the axis of the second rotation. 162dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * @return axis of the second rotation 163dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 164dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public Vector3D getA2() { 165dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond return a2; 166dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond } 167dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 168dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond /** Get the axis of the second rotation. 169dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond * @return axis of the second rotation 170dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond */ 171dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond public Vector3D getA3() { 172dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond return a3; 173dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond } 174dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond 175dee0849a9704d532af0b550146cbafbaa6ee1d19Raymond} 176