Package org.hipparchus.geometry.euclidean.threed

Enum RotationOrder

java.lang.Object

java.lang.Enum<RotationOrder>

org.hipparchus.geometry.euclidean.threed.RotationOrder

All Implemented Interfaces:

Serializable, Comparable<RotationOrder>

public enum RotationOrder
extends Enum<RotationOrder>

Enumerate representing a rotation order specification for Cardan or Euler angles.

Since Hipparchus 1.7 this class is an enumerate class.

Enum Constant Summary

Enum Constants

Enum Constant	Description
XYX	Set of Euler angles.
XYZ	Set of Cardan angles.
XZX	Set of Euler angles.
XZY	Set of Cardan angles.
YXY	Set of Euler angles.
YXZ	Set of Cardan angles.
YZX	Set of Cardan angles.
YZY	Set of Euler angles.
ZXY	Set of Cardan angles.
ZXZ	Set of Euler angles.
ZYX	Set of Cardan angles.
ZYZ	Set of Euler angles.

Method Summary

Modifier and Type	Method	Description
Vector3D	getA1()	Get the axis of the first rotation.
Vector3D	getA2()	Get the axis of the second rotation.
Vector3D	getA3()	Get the axis of the third rotation.
<T extends CalculusFieldElement<T>> T[]	getAngles(FieldRotation<T> rotation, RotationConvention convention)	Get the Cardan or Euler angles corresponding to the instance.
double[]	getAngles(Rotation rotation, RotationConvention convention)	Get the Cardan or Euler angles corresponding to the instance.
static RotationOrder	getRotationOrder(String value)	Get the rotation order corresponding to a string representation.
String	toString()	Get a string representation of the instance.
static RotationOrder	valueOf(String name)	Returns the enum constant of this type with the specified name.
static RotationOrder[]	values()	Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

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

Method Detail

values

public static RotationOrder[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (RotationOrder c : RotationOrder.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static RotationOrder valueOf(String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum type has no constant with the specified name

NullPointerException - if the argument is null

toString

public String toString()

Get a string representation of the instance.

Overrides:

toString in class Enum<RotationOrder>

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 third rotation.

Returns:

axis of the third rotation

getRotationOrder

public static RotationOrder getRotationOrder(String value)

Get the rotation order corresponding to a string representation.

Parameters:

value - name

Returns:

a rotation order object

Since:

1.7

getAngles

public double[] getAngles(Rotation rotation,
                          RotationConvention convention)

Get the Cardan or Euler angles corresponding to the instance.

The algorithm used here works even when the rotation is exactly at the the singularity of the rotation order and convention. In this case, one of the angles in the singular pair is arbitrarily set to exactly 0 and the second angle is computed. The angle set to 0 in the singular case is the angle of the first rotation in the case of Cardan orders, and it is the angle of the last rotation in the case of Euler orders. This implies that extracting the angles of a rotation never fails (it used to trigger an exception in singular cases up to Hipparchus 3.0).

Parameters:

rotation - rotation from which angles should be extracted

convention - convention to use for the semantics of the angle

Returns:

an array of three angles, in the order specified by the set

Since:

3.1

getAngles

public <T extends CalculusFieldElement<T>> T[] getAngles(FieldRotation<T> rotation,
                                                         RotationConvention convention)

Get the Cardan or Euler angles corresponding to the instance.

The algorithm used here works even when the rotation is exactly at the the singularity of the rotation order and convention. In this case, one of the angles in the singular pair is arbitrarily set to exactly 0 and the second angle is computed. The angle set to 0 in the singular case is the angle of the first rotation in the case of Cardan orders, and it is the angle of the last rotation in the case of Euler orders. This implies that extracting the angles of a rotation never fails (it used to trigger an exception in singular cases up to Hipparchus 3.0).

Type Parameters:

T - type of the field elements

Parameters:

rotation - rotation from which angles should be extracted

convention - convention to use for the semantics of the angle

Returns:

an array of three angles, in the order specified by the set

Since:

3.1