edu.stanford.rsl.konrad.geometry
Class Rotations

java.lang.Object
  extended by edu.stanford.rsl.konrad.geometry.Rotations

public abstract class Rotations
extends java.lang.Object


Nested Class Summary
static class Rotations.BasicAxis
           
 
Constructor Summary
Rotations()
           
 
Method Summary
static SimpleMatrix create3DChangeOfAxesMatrix(CoordinateSystem oldSystem, CoordinateSystem newSystem)
          Calculates rotational change of axis matrix from old system to new system using directional cosines.
static SimpleMatrix createBasicRotationMatrix(Rotations.BasicAxis axis, double angle)
           
static SimpleMatrix createBasicXRotationMatrix(double angle)
           
static SimpleMatrix createBasicYRotationMatrix(double angle)
           
static SimpleMatrix createBasicZRotationMatrix(double angle)
           
static SimpleMatrix createRotationMatrixAboutAxis(Axis axis, double angle)
          Creates a Rotation Matrix about an arbitrary axis.
static SimpleMatrix createRotationMatrixAboutAxis(SimpleVector axis, double angle)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

Rotations

public Rotations()
Method Detail

createBasicRotationMatrix

public static SimpleMatrix createBasicRotationMatrix(Rotations.BasicAxis axis,
                                                     double angle)

createBasicXRotationMatrix

public static SimpleMatrix createBasicXRotationMatrix(double angle)

createBasicYRotationMatrix

public static SimpleMatrix createBasicYRotationMatrix(double angle)

createBasicZRotationMatrix

public static SimpleMatrix createBasicZRotationMatrix(double angle)

createRotationMatrixAboutAxis

public static SimpleMatrix createRotationMatrixAboutAxis(SimpleVector axis,
                                                         double angle)

createRotationMatrixAboutAxis

public static SimpleMatrix createRotationMatrixAboutAxis(Axis axis,
                                                         double angle)
Creates a Rotation Matrix about an arbitrary axis.

Parameters:
axis - Axis of Rotation
angle -
Returns:
rotation matrix

create3DChangeOfAxesMatrix

public static SimpleMatrix create3DChangeOfAxesMatrix(CoordinateSystem oldSystem,
                                                      CoordinateSystem newSystem)
Calculates rotational change of axis matrix from old system to new system using directional cosines.

Parameters:
oldSystem - Old coordinate System
newSystem - New Coordinate System
Returns:
change of coordinate matrix