agi.foundation.coordinates

(agi.foundation.core-2025r1.jar)

Class AlignedConstrained

java.lang.Object

agi.foundation.coordinates.AlignedConstrained

public final class AlignedConstrained
extends Object

Given alignment vector a1 and vector a2 and alignment vector b1 and vector b3, a rotation is constructed that aligns a1 with b1 and also minimizes the angular separation between a2 and b3. The angular velocity and angular acceleration associated with the total rotation is also computed given the velocity and acceleration of 1A and 2A.

Method Summary

Modifier and Type	Method and Description
static Motion2<UnitQuaternion,Cartesian>	getMotion(Motion1<Cartesian> principal, Motion1<Cartesian> reference, int order) Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.
static Motion2<UnitQuaternion,Cartesian>	getMotion(Motion2<UnitCartesian,Cartesian> principal, Motion2<UnitCartesian,Cartesian> reference, int order) Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.
static UnitQuaternion	getMotion(UnitCartesian principal, UnitCartesian reference) Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

getMotion

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> getMotion(@Nonnull
                                                                    Motion1<Cartesian> principal,
                                                                    @Nonnull
                                                                    Motion1<Cartesian> reference,
                                                                    int order)

Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.

Parameters:

principal - The principal direction vector with which the X-axis will be aligned.

reference - The reference direction vector. The Z-axis will be constrained to minimize the angular separation from this vector.

order - The order of the highest derivative to compute. To compute just the rotation, pass 0 for this value. To compute rotational velocity as well, pass 1.

Returns:

The transformation to the aligned-constrained axes.

getMotion

@Nonnull
public static UnitQuaternion getMotion(@Nonnull
                                                 UnitCartesian principal,
                                                 @Nonnull
                                                 UnitCartesian reference)

Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.

Parameters:

principal - The principal direction vector with which the X-axis will be aligned.

reference - The reference direction vector. The Z-axis will be constrained to minimize the angular separation from this vector.

Returns:

The transformation to the aligned-constrained axes.

getMotion

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> getMotion(@Nonnull
                                                                    Motion2<UnitCartesian,Cartesian> principal,
                                                                    @Nonnull
                                                                    Motion2<UnitCartesian,Cartesian> reference,
                                                                    int order)

Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.

Parameters:

principal - The principal direction vector with which the X-axis will be aligned.

reference - The reference direction vector. The Z-axis will be constrained to minimize the angular separation from this vector.

order - The order of the highest derivative to compute. To compute just the rotation, pass 0 for this value. To compute rotational velocity as well, pass 1.

Returns:

The transformation to the aligned-constrained axes.