public abstract class Rotations
extends java.lang.Object
Modifier and Type | Class and Description |
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static class |
Rotations.BasicAxis |
Constructor and Description |
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Rotations() |
Modifier and Type | Method and Description |
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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 |
createRotationMatrix(double angleX,
double angleY,
double angleZ)
Creates a rotation matrix as the product of
RotationMatrixX * RotationMatrixY * RotationMatrixZ
|
static SimpleMatrix |
createRotationMatrixAboutAxis(Axis axis,
double angle)
Creates a Rotation Matrix about an arbitrary axis.
|
static SimpleMatrix |
createRotationMatrixAboutAxis(SimpleVector axis,
double angle) |
static double |
getRotationFromAtoB(SimpleVector a,
SimpleVector b)
Computes the angle (in radians) of the rotation from a to b (in the plane that is defined by (0,0,0), a, b).
|
static SimpleMatrix |
getRotationMatrixFromAtoB(SimpleVector a,
SimpleVector b)
Computes the rotation matrix from a to b.
|
public static SimpleMatrix getRotationMatrixFromAtoB(SimpleVector a, SimpleVector b)
a
- the Vector ab
- the Vector bpublic static double getRotationFromAtoB(SimpleVector a, SimpleVector b)
a
- the Vector ab
- the Vector bpublic static SimpleMatrix createBasicRotationMatrix(Rotations.BasicAxis axis, double angle)
public static SimpleMatrix createRotationMatrix(double angleX, double angleY, double angleZ)
angleX
- the angle in XangleY
- the angle in YangleZ
- the angle in Zpublic static SimpleMatrix createBasicXRotationMatrix(double angle)
public static SimpleMatrix createBasicYRotationMatrix(double angle)
public static SimpleMatrix createBasicZRotationMatrix(double angle)
public static SimpleMatrix createRotationMatrixAboutAxis(SimpleVector axis, double angle)
public static SimpleMatrix createRotationMatrixAboutAxis(Axis axis, double angle)
axis
- Axis of Rotationangle
- public static SimpleMatrix create3DChangeOfAxesMatrix(CoordinateSystem oldSystem, CoordinateSystem newSystem)
oldSystem
- Old coordinate SystemnewSystem
- New Coordinate System