SRM

Class OrientationMatrix

java.lang.Object

SRM.Orientation

SRM.OrientationMatrix

All Implemented Interfaces:

Cloneable

public class OrientationMatrix
extends Orientation

The concrete class for the orientation in matrix 3x3 orientation representation.

See Also:

Orientation

Field Summary

Fields inherited from class SRM.Orientation

epsilon

Constructor Summary

Constructors

Constructor and Description
OrientationMatrix() Default constructor.
OrientationMatrix(double a11, double a12, double a13, double a21, double a22, double a23, double a31, double a32, double a33) Constructor using elements of the matrix (mat) 3x3 pamameter
OrientationMatrix(SRM_Matrix_3x3 params) constructor.using matrix 3x3 parameter data structure

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 OrientationMatrix	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_Matrix_3x3	getMatrix3x3() Gets the Matrix 3x3 orientation representation
SRM_Ori_Rep	getOriRep() Returns the native orientation representation type.
void	setMatrix3x3(SRM_Matrix_3x3 params) Sets the Matrix 3x3 orientation representation
String	toString() Returns the string for the matrix 3x3 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, getAxisAngle, getEulerAnglesZXZ, getQuaternion, getTaitBryanAngles, isEqual, setAxisAngle, setAxisAngle, setEulerAnglesZXZ, setEulerAnglesZXZ, 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

OrientationMatrix

public OrientationMatrix()

Default constructor. The default value is identity matrix.

OrientationMatrix

public OrientationMatrix(SRM_Matrix_3x3 params)
                  throws SrmException

constructor.using matrix 3x3 parameter data structure

Throws:

SrmException

OrientationMatrix

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

Constructor using elements of the matrix (mat) 3x3 pamameter

Throws:

SrmException

Method Detail

getMatrix3x3

public SRM_Matrix_3x3 getMatrix3x3()

Gets the Matrix 3x3 orientation representation

Overrides:

getMatrix3x3 in class Orientation

setMatrix3x3

public void setMatrix3x3(SRM_Matrix_3x3 params)
                  throws SrmException

Sets the Matrix 3x3 orientation representation

Overrides:

setMatrix3x3 in class Orientation

Throws:

SrmException

toString

public String toString()

Returns the string for the matrix 3x3 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 OrientationMatrix 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