SRM

Class OrientationAxisAngle

java.lang.Object

SRM.Orientation

SRM.OrientationAxisAngle

All Implemented Interfaces:

Cloneable

public class OrientationAxisAngle
extends Orientation

The Orientation subclass in (axis, angle) representation.

See Also:

Orientation

Field Summary

Fields inherited from class SRM.Orientation

epsilon

Constructor Summary

Constructors

Constructor and Description
OrientationAxisAngle() Default constructor.
OrientationAxisAngle(double[] axis, double angle_in_rad) Constructor using (axis, angle) pamameter
OrientationAxisAngle(SRM_Axis_Angle_Params params) Constructor using (axis, angle) pamameter

Method Summary

Methods

Modifier and Type	Method and Description
protected void	_updateIntData() the virtual function to convert the data from native representation to the internal representation
protected void	_updateRepData() the virtual function to convert the data from internal representation to the native representation
static OrientationAxisAngle	compose(Orientation left, Orientation right) Composes the right orientation with the left orientation and returns the result in the output orientation, i.e., composed_ori = left*right.
SRM_Axis_Angle_Params	getAxisAngle() Gets the (axis, angle) orientation representation
SRM_Ori_Rep	getOriRep() Returns the native orientation representation type.
void	setAxisAngle(SRM_Axis_Angle_Params params) Sets the (axis, angle) orientation representation
String	toString() Returns the string for the (axis, angle) orientation representation

Methods inherited from class SRM.Orientation

_get_internal_data_is_current, _get_matrix_base_unch, _get_matrix_base, _set_internal_data_is_current, _set_matrix_base, equivalence, equivalence, getEulerAnglesZXZ, getMatrix3x3, getQuaternion, getTaitBryanAngles, isEqual, setAxisAngle, setEulerAnglesZXZ, setEulerAnglesZXZ, setMatrix3x3, setMatrix3x3, setQuaternion, setQuaternion, setTaitBryanAngles, setTaitBryanAngles, transformVector

Methods inherited from class java.lang.Object

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

Constructor Detail

OrientationAxisAngle

public OrientationAxisAngle()

Default constructor. The default value is identity ((1, 0, 0), 0),

OrientationAxisAngle

public OrientationAxisAngle(SRM_Axis_Angle_Params params)
                     throws SrmException

Constructor using (axis, angle) pamameter

Parameters:

params - in: the (axis, angle) parameter

Throws:

SrmException

OrientationAxisAngle

public OrientationAxisAngle(double[] axis,
                    double angle_in_rad)
                     throws SrmException

Constructor using (axis, angle) pamameter

Parameters:

axis - in: the axis of rotation

angle_in_rad - in: the angle of rotation

Throws:

SrmException

Method Detail

getAxisAngle

public SRM_Axis_Angle_Params getAxisAngle()

Gets the (axis, angle) orientation representation

Overrides:

getAxisAngle in class Orientation

setAxisAngle

public void setAxisAngle(SRM_Axis_Angle_Params params)
                  throws SrmException

Sets the (axis, angle) orientation representation

Overrides:

setAxisAngle in class Orientation

Throws:

SrmException

toString

public String toString()

Returns the string for the (axis, angle) orientation representation

Specified by:

toString in class Orientation

getOriRep

public SRM_Ori_Rep getOriRep()

Returns the native orientation representation type.

Specified by:

getOriRep in class Orientation

compose

public static OrientationAxisAngle compose(Orientation left,
                           Orientation right)
                                    throws SrmException

Composes the right orientation with the left orientation and returns the result in the output orientation, i.e., composed_ori = left*right.

Throws:

SrmException

_updateIntData

protected void _updateIntData()

Description copied from class: Orientation

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

Specified by:

_updateIntData in class Orientation

_updateRepData

protected void _updateRepData()

Description copied from class: Orientation

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

Specified by:

_updateRepData in class Orientation