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: 620312 $ $Date: 2008-02-10 12:28:59 -0700 (Sun, 10 Feb 2008) $ 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 public String toString() { 54 return name; 55 } 56 57 /** Get the axis of the first rotation. 58 * @return axis of the first rotation 59 */ 60 public Vector3D getA1() { 61 return a1; 62 } 63 64 /** Get the axis of the second rotation. 65 * @return axis of the second rotation 66 */ 67 public Vector3D getA2() { 68 return a2; 69 } 70 71 /** Get the axis of the second rotation. 72 * @return axis of the second rotation 73 */ 74 public Vector3D getA3() { 75 return a3; 76 } 77 78 /** Set of Cardan angles. 79 * this ordered set of rotations is around X, then around Y, then 80 * around Z 81 */ 82 public static final RotationOrder XYZ = 83 new RotationOrder("XYZ", Vector3D.plusI, Vector3D.plusJ, Vector3D.plusK); 84 85 /** Set of Cardan angles. 86 * this ordered set of rotations is around X, then around Z, then 87 * around Y 88 */ 89 public static final RotationOrder XZY = 90 new RotationOrder("XZY", Vector3D.plusI, Vector3D.plusK, Vector3D.plusJ); 91 92 /** Set of Cardan angles. 93 * this ordered set of rotations is around Y, then around X, then 94 * around Z 95 */ 96 public static final RotationOrder YXZ = 97 new RotationOrder("YXZ", Vector3D.plusJ, Vector3D.plusI, Vector3D.plusK); 98 99 /** Set of Cardan angles. 100 * this ordered set of rotations is around Y, then around Z, then 101 * around X 102 */ 103 public static final RotationOrder YZX = 104 new RotationOrder("YZX", Vector3D.plusJ, Vector3D.plusK, Vector3D.plusI); 105 106 /** Set of Cardan angles. 107 * this ordered set of rotations is around Z, then around X, then 108 * around Y 109 */ 110 public static final RotationOrder ZXY = 111 new RotationOrder("ZXY", Vector3D.plusK, Vector3D.plusI, Vector3D.plusJ); 112 113 /** Set of Cardan angles. 114 * this ordered set of rotations is around Z, then around Y, then 115 * around X 116 */ 117 public static final RotationOrder ZYX = 118 new RotationOrder("ZYX", Vector3D.plusK, Vector3D.plusJ, Vector3D.plusI); 119 120 /** Set of Euler angles. 121 * this ordered set of rotations is around X, then around Y, then 122 * around X 123 */ 124 public static final RotationOrder XYX = 125 new RotationOrder("XYX", Vector3D.plusI, Vector3D.plusJ, Vector3D.plusI); 126 127 /** Set of Euler angles. 128 * this ordered set of rotations is around X, then around Z, then 129 * around X 130 */ 131 public static final RotationOrder XZX = 132 new RotationOrder("XZX", Vector3D.plusI, Vector3D.plusK, Vector3D.plusI); 133 134 /** Set of Euler angles. 135 * this ordered set of rotations is around Y, then around X, then 136 * around Y 137 */ 138 public static final RotationOrder YXY = 139 new RotationOrder("YXY", Vector3D.plusJ, Vector3D.plusI, Vector3D.plusJ); 140 141 /** Set of Euler angles. 142 * this ordered set of rotations is around Y, then around Z, then 143 * around Y 144 */ 145 public static final RotationOrder YZY = 146 new RotationOrder("YZY", Vector3D.plusJ, Vector3D.plusK, Vector3D.plusJ); 147 148 /** Set of Euler angles. 149 * this ordered set of rotations is around Z, then around X, then 150 * around Z 151 */ 152 public static final RotationOrder ZXZ = 153 new RotationOrder("ZXZ", Vector3D.plusK, Vector3D.plusI, Vector3D.plusK); 154 155 /** Set of Euler angles. 156 * this ordered set of rotations is around Z, then around Y, then 157 * around Z 158 */ 159 public static final RotationOrder ZYZ = 160 new RotationOrder("ZYZ", Vector3D.plusK, Vector3D.plusJ, Vector3D.plusK); 161 162 /** Name of the rotations order. */ 163 private final String name; 164 165 /** Axis of the first rotation. */ 166 private final Vector3D a1; 167 168 /** Axis of the second rotation. */ 169 private final Vector3D a2; 170 171 /** Axis of the third rotation. */ 172 private final Vector3D a3; 173 174 }