001 /* 002 * Licensed to the Apache Software Foundation (ASF) under one or more 003 * contributor license agreements. See the NOTICE file distributed with 004 * this work for additional information regarding copyright ownership. 005 * The ASF licenses this file to You under the Apache License, Version 2.0 006 * (the "License"); you may not use this file except in compliance with 007 * the License. You may obtain a copy of the License at 008 * 009 * http://www.apache.org/licenses/LICENSE-2.0 010 * 011 * Unless required by applicable law or agreed to in writing, software 012 * distributed under the License is distributed on an "AS IS" BASIS, 013 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 014 * See the License for the specific language governing permissions and 015 * limitations under the License. 016 */ 017 018 package org.apache.commons.math.geometry; 019 020 /** 021 * This class is a utility representing a rotation order specification 022 * for Cardan or Euler angles specification. 023 * 024 * This class cannot be instanciated by the user. He can only use one 025 * of the twelve predefined supported orders as an argument to either 026 * the {@link Rotation#Rotation(RotationOrder,double,double,double)} 027 * constructor or the {@link Rotation#getAngles} method. 028 * 029 * @version $Revision: 762087 $ $Date: 2009-04-05 10:20:18 -0400 (Sun, 05 Apr 2009) $ 030 * @since 1.2 031 */ 032 public final class RotationOrder { 033 034 /** Private constructor. 035 * This is a utility class that cannot be instantiated by the user, 036 * so its only constructor is private. 037 * @param name name of the rotation order 038 * @param a1 axis of the first rotation 039 * @param a2 axis of the second rotation 040 * @param a3 axis of the third rotation 041 */ 042 private RotationOrder(String name, 043 Vector3D a1, Vector3D a2, Vector3D a3) { 044 this.name = name; 045 this.a1 = a1; 046 this.a2 = a2; 047 this.a3 = a3; 048 } 049 050 /** Get a string representation of the instance. 051 * @return a string representation of the instance (in fact, its name) 052 */ 053 @Override 054 public String toString() { 055 return name; 056 } 057 058 /** Get the axis of the first rotation. 059 * @return axis of the first rotation 060 */ 061 public Vector3D getA1() { 062 return a1; 063 } 064 065 /** Get the axis of the second rotation. 066 * @return axis of the second rotation 067 */ 068 public Vector3D getA2() { 069 return a2; 070 } 071 072 /** Get the axis of the second rotation. 073 * @return axis of the second rotation 074 */ 075 public Vector3D getA3() { 076 return a3; 077 } 078 079 /** Set of Cardan angles. 080 * this ordered set of rotations is around X, then around Y, then 081 * around Z 082 */ 083 public static final RotationOrder XYZ = 084 new RotationOrder("XYZ", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_K); 085 086 /** Set of Cardan angles. 087 * this ordered set of rotations is around X, then around Z, then 088 * around Y 089 */ 090 public static final RotationOrder XZY = 091 new RotationOrder("XZY", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_J); 092 093 /** Set of Cardan angles. 094 * this ordered set of rotations is around Y, then around X, then 095 * around Z 096 */ 097 public static final RotationOrder YXZ = 098 new RotationOrder("YXZ", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_K); 099 100 /** Set of Cardan angles. 101 * this ordered set of rotations is around Y, then around Z, then 102 * around X 103 */ 104 public static final RotationOrder YZX = 105 new RotationOrder("YZX", Vector3D.PLUS_J, Vector3D.PLUS_K, Vector3D.PLUS_I); 106 107 /** Set of Cardan angles. 108 * this ordered set of rotations is around Z, then around X, then 109 * around Y 110 */ 111 public static final RotationOrder ZXY = 112 new RotationOrder("ZXY", Vector3D.PLUS_K, Vector3D.PLUS_I, Vector3D.PLUS_J); 113 114 /** Set of Cardan angles. 115 * this ordered set of rotations is around Z, then around Y, then 116 * around X 117 */ 118 public static final RotationOrder ZYX = 119 new RotationOrder("ZYX", Vector3D.PLUS_K, Vector3D.PLUS_J, Vector3D.PLUS_I); 120 121 /** Set of Euler angles. 122 * this ordered set of rotations is around X, then around Y, then 123 * around X 124 */ 125 public static final RotationOrder XYX = 126 new RotationOrder("XYX", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_I); 127 128 /** Set of Euler angles. 129 * this ordered set of rotations is around X, then around Z, then 130 * around X 131 */ 132 public static final RotationOrder XZX = 133 new RotationOrder("XZX", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_I); 134 135 /** Set of Euler angles. 136 * this ordered set of rotations is around Y, then around X, then 137 * around Y 138 */ 139 public static final RotationOrder YXY = 140 new RotationOrder("YXY", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_J); 141 142 /** Set of Euler angles. 143 * this ordered set of rotations is around Y, then around Z, then 144 * around Y 145 */ 146 public static final RotationOrder YZY = 147 new RotationOrder("YZY", Vector3D.PLUS_J, Vector3D.PLUS_K, Vector3D.PLUS_J); 148 149 /** Set of Euler angles. 150 * this ordered set of rotations is around Z, then around X, then 151 * around Z 152 */ 153 public static final RotationOrder ZXZ = 154 new RotationOrder("ZXZ", Vector3D.PLUS_K, Vector3D.PLUS_I, Vector3D.PLUS_K); 155 156 /** Set of Euler angles. 157 * this ordered set of rotations is around Z, then around Y, then 158 * around Z 159 */ 160 public static final RotationOrder ZYZ = 161 new RotationOrder("ZYZ", Vector3D.PLUS_K, Vector3D.PLUS_J, Vector3D.PLUS_K); 162 163 /** Name of the rotations order. */ 164 private final String name; 165 166 /** Axis of the first rotation. */ 167 private final Vector3D a1; 168 169 /** Axis of the second rotation. */ 170 private final Vector3D a2; 171 172 /** Axis of the third rotation. */ 173 private final Vector3D a3; 174 175 }