1 /* 2 * Licensed to the Apache Software Foundation (ASF) under one or more 3 * contributor license agreements. See the NOTICE file distributed with 4 * this work for additional information regarding copyright ownership. 5 * The ASF licenses this file to You under the Apache License, Version 2.0 6 * (the "License"); you may not use this file except in compliance with 7 * the License. You may obtain a copy of the License at 8 * 9 * http://www.apache.org/licenses/LICENSE-2.0 10 * 11 * Unless required by applicable law or agreed to in writing, software 12 * distributed under the License is distributed on an "AS IS" BASIS, 13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 * See the License for the specific language governing permissions and 15 * limitations under the License. 16 */ 17 18 package org.apache.commons.math.geometry; 19 20 /** 21 * This class is a utility representing a rotation order specification 22 * for Cardan or Euler angles specification. 23 * 24 * This class cannot be instanciated by the user. He can only use one 25 * of the twelve predefined supported orders as an argument to either 26 * the {@link Rotation#Rotation(RotationOrder,double,double,double)} 27 * constructor or the {@link Rotation#getAngles} method. 28 * 29 * @version $Revision: 762087 $ $Date: 2009-04-05 10:20:18 -0400 (Sun, 05 Apr 2009) $ 30 * @since 1.2 31 */ 32 public final class RotationOrder { 33 34 /** Private constructor. 35 * This is a utility class that cannot be instantiated by the user, 36 * so its only constructor is private. 37 * @param name name of the rotation order 38 * @param a1 axis of the first rotation 39 * @param a2 axis of the second rotation 40 * @param a3 axis of the third rotation 41 */ 42 private RotationOrder(String name, 43 Vector3D a1, Vector3D a2, Vector3D a3) { 44 this.name = name; 45 this.a1 = a1; 46 this.a2 = a2; 47 this.a3 = a3; 48 } 49 50 /** Get a string representation of the instance. 51 * @return a string representation of the instance (in fact, its name) 52 */ 53 @Override 54 public String toString() { 55 return name; 56 } 57 58 /** Get the axis of the first rotation. 59 * @return axis of the first rotation 60 */ 61 public Vector3D getA1() { 62 return a1; 63 } 64 65 /** Get the axis of the second rotation. 66 * @return axis of the second rotation 67 */ 68 public Vector3D getA2() { 69 return a2; 70 } 71 72 /** Get the axis of the second rotation. 73 * @return axis of the second rotation 74 */ 75 public Vector3D getA3() { 76 return a3; 77 } 78 79 /** Set of Cardan angles. 80 * this ordered set of rotations is around X, then around Y, then 81 * around Z 82 */ 83 public static final RotationOrder XYZ = 84 new RotationOrder("XYZ", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_K); 85 86 /** Set of Cardan angles. 87 * this ordered set of rotations is around X, then around Z, then 88 * around Y 89 */ 90 public static final RotationOrder XZY = 91 new RotationOrder("XZY", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_J); 92 93 /** Set of Cardan angles. 94 * this ordered set of rotations is around Y, then around X, then 95 * around Z 96 */ 97 public static final RotationOrder YXZ = 98 new RotationOrder("YXZ", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_K); 99 100 /** 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 }