public final class AlignedConstrained extends Object
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 alignedconstrained 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 alignedconstrained 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 alignedconstrained axes.

@Nonnull public static Motion2<UnitQuaternion,Cartesian> getMotion(@Nonnull Motion1<Cartesian> principal, @Nonnull Motion1<Cartesian> reference, int order)
principal
 The principal direction vector with which the Xaxis will be aligned.reference
 The reference direction vector. The Zaxis 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.@Nonnull public static UnitQuaternion getMotion(@Nonnull UnitCartesian principal, @Nonnull UnitCartesian reference)
principal
 The principal direction vector with which the Xaxis will be aligned.reference
 The reference direction vector. The Zaxis will be constrained to minimize the angular separation from this vector.@Nonnull public static Motion2<UnitQuaternion,Cartesian> getMotion(@Nonnull Motion2<UnitCartesian,Cartesian> principal, @Nonnull Motion2<UnitCartesian,Cartesian> reference, int order)
principal
 The principal direction vector with which the Xaxis will be aligned.reference
 The reference direction vector. The Zaxis 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.