001 /*
002 * Licensed to the Apache Software Foundation (ASF) under one or more
003 * contributor license agreements. See the NOTICE file distributed with
004 * this work for additional information regarding copyright ownership.
005 * The ASF licenses this file to You under the Apache License, Version 2.0
006 * (the "License"); you may not use this file except in compliance with
007 * the License. You may obtain a copy of the License at
008 *
009 * http://www.apache.org/licenses/LICENSE-2.0
010 *
011 * Unless required by applicable law or agreed to in writing, software
012 * distributed under the License is distributed on an "AS IS" BASIS,
013 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
014 * See the License for the specific language governing permissions and
015 * limitations under the License.
016 */
017
018 package org.apache.commons.math.geometry;
019
020 /**
021 * This class is a utility representing a rotation order specification
022 * for Cardan or Euler angles specification.
023 *
024 * This class cannot be instanciated by the user. He can only use one
025 * of the twelve predefined supported orders as an argument to either
026 * the {@link Rotation#Rotation(RotationOrder,double,double,double)}
027 * constructor or the {@link Rotation#getAngles} method.
028 *
029 * @version $Revision: 762087 $ $Date: 2009-04-05 10:20:18 -0400 (Sun, 05 Apr 2009) $
030 * @since 1.2
031 */
032 public final class RotationOrder {
033
034 /** Private constructor.
035 * This is a utility class that cannot be instantiated by the user,
036 * so its only constructor is private.
037 * @param name name of the rotation order
038 * @param a1 axis of the first rotation
039 * @param a2 axis of the second rotation
040 * @param a3 axis of the third rotation
041 */
042 private RotationOrder(String name,
043 Vector3D a1, Vector3D a2, Vector3D a3) {
044 this.name = name;
045 this.a1 = a1;
046 this.a2 = a2;
047 this.a3 = a3;
048 }
049
050 /** Get a string representation of the instance.
051 * @return a string representation of the instance (in fact, its name)
052 */
053 @Override
054 public String toString() {
055 return name;
056 }
057
058 /** Get the axis of the first rotation.
059 * @return axis of the first rotation
060 */
061 public Vector3D getA1() {
062 return a1;
063 }
064
065 /** Get the axis of the second rotation.
066 * @return axis of the second rotation
067 */
068 public Vector3D getA2() {
069 return a2;
070 }
071
072 /** Get the axis of the second rotation.
073 * @return axis of the second rotation
074 */
075 public Vector3D getA3() {
076 return a3;
077 }
078
079 /** Set of Cardan angles.
080 * this ordered set of rotations is around X, then around Y, then
081 * around Z
082 */
083 public static final RotationOrder XYZ =
084 new RotationOrder("XYZ", Vector3D.PLUS_I, Vector3D.PLUS_J, Vector3D.PLUS_K);
085
086 /** Set of Cardan angles.
087 * this ordered set of rotations is around X, then around Z, then
088 * around Y
089 */
090 public static final RotationOrder XZY =
091 new RotationOrder("XZY", Vector3D.PLUS_I, Vector3D.PLUS_K, Vector3D.PLUS_J);
092
093 /** Set of Cardan angles.
094 * this ordered set of rotations is around Y, then around X, then
095 * around Z
096 */
097 public static final RotationOrder YXZ =
098 new RotationOrder("YXZ", Vector3D.PLUS_J, Vector3D.PLUS_I, Vector3D.PLUS_K);
099
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 }