SRM

Class Orientation

java.lang.Object

SRM.Orientation

All Implemented Interfaces:

Cloneable

Direct Known Subclasses:

OrientationAxisAngle, OrientationEulerAnglesZXZ, OrientationMatrix, OrientationQuaternion, OrientationTaitBryanAngles

public abstract class Orientation
extends Object
implements Cloneable

The Orientation base class.

Author:

David Shen

See Also:

BaseSRF_3D

Field Summary

Fields

Modifier and Type	Field and Description
static double	epsilon Epsilon value for equivalence tests

Constructor Summary

Constructors

Constructor and Description
Orientation()

Method Summary

Methods

Modifier and Type	Method and Description
protected boolean	_get_internal_data_is_current() is set to true when the internal data is equivalent to the representation class data.
protected SRM_Matrix_3x3	_get_matrix_base_unch()
protected SRM_Matrix_3x3	_get_matrix_base() Internal matrix 3x3 representation (for now) used for calculations
protected void	_set_internal_data_is_current(boolean internal_data_is_current)
protected void	_set_matrix_base(SRM_Matrix_3x3 mat)
protected abstract void	_updateIntData() the virtual function to convert the data from native representation to the internal representation
protected abstract void	_updateRepData() the virtual function to convert the data from internal representation to the native representation
static boolean	equivalence(Orientation instance1, Orientation instance2)
static boolean	equivalence(Orientation instance1, Orientation instance2, double tolerance)
SRM_Axis_Angle_Params	getAxisAngle() Gets the orientation in (axis, angle) representation
SRM_Euler_Angles_ZXZ_Params	getEulerAnglesZXZ() Gets the orientation in Euler angles (ZXZ) representation
SRM_Matrix_3x3	getMatrix3x3() Gets the orientation in matrix 3x3 representation
abstract SRM_Ori_Rep	getOriRep() Returns the native orientation representation type.
SRM_Quaternion_Params	getQuaternion() Gets the orientation in Quaternion representation
SRM_Tait_Bryan_Angles_Params	getTaitBryanAngles() Gets the orientation in Tait-Bryan angles representation
boolean	isEqual(Orientation ori) The equality operator.
void	setAxisAngle(double[] axis, double angle_in_rad) Sets the orientation using (axis, angle) parameters.
void	setAxisAngle(SRM_Axis_Angle_Params params) Sets the (axis, angle) orientation representation
void	setEulerAnglesZXZ(double spin, double nutation, double precession) Sets the orientation using spin, nutation, and precession parameters
void	setEulerAnglesZXZ(SRM_Euler_Angles_ZXZ_Params params) Sets the Euler angles (ZXZ) orientation representation
void	setMatrix3x3(double a11, double a12, double a13, double a21, double a22, double a23, double a31, double a32, double a33) Sets the orientation using elements of the matrix (mat) 3x3 parameter
void	setMatrix3x3(SRM_Matrix_3x3 params) Sets the Matrix 3x3 orientation representation
void	setQuaternion(double e0, double e1, double e2, double e3) Sets the orientation using quaternion (e0, e1, e2, e3 ) parameters
void	setQuaternion(SRM_Quaternion_Params params) Sets the quaternion orientation representation
void	setTaitBryanAngles(double roll, double pitch, double yaw) Sets the orientation using roll, pitch and yaw parameters
void	setTaitBryanAngles(SRM_Tait_Bryan_Angles_Params params) Sets the Tait-Bryan angles orientation representation.
abstract String	toString() Returns the string for the orientation values.
double[]	transformVector(double[] vec) Applies this orientation to the input vector and sets the result in the return vector.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

epsilon

public static final double epsilon

Epsilon value for equivalence tests

See Also:

Constant Field Values

Constructor Detail

Orientation

public Orientation()

Method Detail

_get_matrix_base

protected SRM_Matrix_3x3 _get_matrix_base()

Internal matrix 3x3 representation (for now) used for calculations

_get_matrix_base_unch

protected SRM_Matrix_3x3 _get_matrix_base_unch()

_set_matrix_base

protected void _set_matrix_base(SRM_Matrix_3x3 mat)

_get_internal_data_is_current

protected boolean _get_internal_data_is_current()

is set to true when the internal data is equivalent to the representation class data.

_set_internal_data_is_current

protected void _set_internal_data_is_current(boolean internal_data_is_current)

_updateIntData

protected abstract void _updateIntData()

the virtual function to convert the data from native representation to the internal representation

_updateRepData

protected abstract void _updateRepData()

the virtual function to convert the data from internal representation to the native representation

getMatrix3x3

public SRM_Matrix_3x3 getMatrix3x3()

Gets the orientation in matrix 3x3 representation

getAxisAngle

public SRM_Axis_Angle_Params getAxisAngle()
                                   throws SrmException

Gets the orientation in (axis, angle) representation

Throws:

SrmException

getEulerAnglesZXZ

public SRM_Euler_Angles_ZXZ_Params getEulerAnglesZXZ()

Gets the orientation in Euler angles (ZXZ) representation

getTaitBryanAngles

public SRM_Tait_Bryan_Angles_Params getTaitBryanAngles()

Gets the orientation in Tait-Bryan angles representation

getQuaternion

public SRM_Quaternion_Params getQuaternion()
                                    throws SrmException

Gets the orientation in Quaternion representation

Throws:

SrmException

setMatrix3x3

public void setMatrix3x3(SRM_Matrix_3x3 params)
                  throws SrmException

Sets the Matrix 3x3 orientation representation

Throws:

SrmException

setMatrix3x3

public void setMatrix3x3(double a11,
                double a12,
                double a13,
                double a21,
                double a22,
                double a23,
                double a31,
                double a32,
                double a33)
                  throws SrmException

Sets the orientation using elements of the matrix (mat) 3x3 parameter

Throws:

SrmException

setAxisAngle

public void setAxisAngle(SRM_Axis_Angle_Params params)
                  throws SrmException

Sets the (axis, angle) orientation representation

Throws:

SrmException

setAxisAngle

public void setAxisAngle(double[] axis,
                double angle_in_rad)
                  throws SrmException

Sets the orientation using (axis, angle) parameters.

Parameters:

axis - in: the axis of rotation, which is a unit vector

angle - in: the angle of rotation, which is in radians in the range of [-2PI, 2PI]

Throws:

SrmException

setEulerAnglesZXZ

public void setEulerAnglesZXZ(SRM_Euler_Angles_ZXZ_Params params)
                       throws SrmException

Sets the Euler angles (ZXZ) orientation representation

Throws:

SrmException

setEulerAnglesZXZ

public void setEulerAnglesZXZ(double spin,
                     double nutation,
                     double precession)
                       throws SrmException

Sets the orientation using spin, nutation, and precession parameters

Parameters:

spin - in: the spin angle, which is in radians in the range of [-2PI, 2PI]

nutation - in: the nutation angle is in radians in the range of [-2PI, 2PI]

precession - in: the precession angle, which is in radians in the range of [-2PI, 2PI]

Throws:

SrmException

setTaitBryanAngles

public void setTaitBryanAngles(SRM_Tait_Bryan_Angles_Params params)
                        throws SrmException

Sets the Tait-Bryan angles orientation representation.

Throws:

This - method throws srm::Exception

SrmException

setTaitBryanAngles

public void setTaitBryanAngles(double roll,
                      double pitch,
                      double yaw)
                        throws SrmException

Sets the orientation using roll, pitch and yaw parameters

Parameters:

roll - in: the roll angle, which is in radians in the range of [-2PI, 2PI]

pitch - in: the pitch angle, which is in radians in the range of [-2PI, 2PI]

yaw - in: the yaw angle, which is in radians in the range of [-2PI, 2PI]

Throws:

SrmException

setQuaternion

public void setQuaternion(SRM_Quaternion_Params params)
                   throws SrmException

Sets the quaternion orientation representation

Throws:

SrmException

setQuaternion

public void setQuaternion(double e0,
                 double e1,
                 double e2,
                 double e3)
                   throws SrmException

Sets the orientation using quaternion (e0, e1, e2, e3 ) parameters

Parameters:

e0 - in: the scale (real) parameter

e1 - in: the vector multiplier in (i) direction

e2 - in: the vector multiplier in (j) direction

e3 - in: the vector multiplier in (k) direction

Throws:

SrmException

toString

public abstract String toString()

Returns the string for the orientation values.

Overrides:

toString in class Object

getOriRep

public abstract SRM_Ori_Rep getOriRep()

Returns the native orientation representation type.

transformVector

public double[] transformVector(double[] vec)
                         throws SrmException

Applies this orientation to the input vector and sets the result in the return vector.

Throws:

This - method throws srm::Exception

SrmException

equivalence

public static final boolean equivalence(Orientation instance1,
                  Orientation instance2,
                  double tolerance)
                                 throws SrmException

Throws:

SrmException

equivalence

public static final boolean equivalence(Orientation instance1,
                  Orientation instance2)

isEqual

public boolean isEqual(Orientation ori)
                throws SrmException

The equality operator.

Throws:

SrmException