java.lang.Object
org.apache.commons.math3.geometry.euclidean.threed.RotationOrder

public final class RotationOrder extends Object
This class is a utility representing a rotation order specification for Cardan or Euler angles specification. This class cannot be instanciated by the user. He can only use one of the twelve predefined supported orders as an argument to either the Rotation(RotationOrder,double,double,double) constructor or the Rotation.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder) method.
Since:
1.2
  • Field Details

    • XYZ

      public static final RotationOrder XYZ
      Set of Cardan angles. this ordered set of rotations is around X, then around Y, then around Z
    • XZY

      public static final RotationOrder XZY
      Set of Cardan angles. this ordered set of rotations is around X, then around Z, then around Y
    • YXZ

      public static final RotationOrder YXZ
      Set of Cardan angles. this ordered set of rotations is around Y, then around X, then around Z
    • YZX

      public static final RotationOrder YZX
      Set of Cardan angles. this ordered set of rotations is around Y, then around Z, then around X
    • ZXY

      public static final RotationOrder ZXY
      Set of Cardan angles. this ordered set of rotations is around Z, then around X, then around Y
    • ZYX

      public static final RotationOrder ZYX
      Set of Cardan angles. this ordered set of rotations is around Z, then around Y, then around X
    • XYX

      public static final RotationOrder XYX
      Set of Euler angles. this ordered set of rotations is around X, then around Y, then around X
    • XZX

      public static final RotationOrder XZX
      Set of Euler angles. this ordered set of rotations is around X, then around Z, then around X
    • YXY

      public static final RotationOrder YXY
      Set of Euler angles. this ordered set of rotations is around Y, then around X, then around Y
    • YZY

      public static final RotationOrder YZY
      Set of Euler angles. this ordered set of rotations is around Y, then around Z, then around Y
    • ZXZ

      public static final RotationOrder ZXZ
      Set of Euler angles. this ordered set of rotations is around Z, then around X, then around Z
    • ZYZ

      public static final RotationOrder ZYZ
      Set of Euler angles. this ordered set of rotations is around Z, then around Y, then around Z
    • name

      private final String name
      Name of the rotations order.
    • a1

      private final Vector3D a1
      Axis of the first rotation.
    • a2

      private final Vector3D a2
      Axis of the second rotation.
    • a3

      private final Vector3D a3
      Axis of the third rotation.
  • Constructor Details

    • RotationOrder

      private RotationOrder(String name, Vector3D a1, Vector3D a2, Vector3D a3)
      Private constructor. This is a utility class that cannot be instantiated by the user, so its only constructor is private.
      Parameters:
      name - name of the rotation order
      a1 - axis of the first rotation
      a2 - axis of the second rotation
      a3 - axis of the third rotation
  • Method Details

    • toString

      public String toString()
      Get a string representation of the instance.
      Overrides:
      toString in class Object
      Returns:
      a string representation of the instance (in fact, its name)
    • getA1

      public Vector3D getA1()
      Get the axis of the first rotation.
      Returns:
      axis of the first rotation
    • getA2

      public Vector3D getA2()
      Get the axis of the second rotation.
      Returns:
      axis of the second rotation
    • getA3

      public Vector3D getA3()
      Get the axis of the second rotation.
      Returns:
      axis of the second rotation