edu.stanford.rsl.konrad.geometry
Class Rotations
java.lang.Object
edu.stanford.rsl.konrad.geometry.Rotations
public abstract class Rotations
- extends java.lang.Object
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Rotations
public Rotations()
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 Rotationangle
-
- 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 SystemnewSystem
- New Coordinate System
- Returns:
- change of coordinate matrix