agi.foundation.coordinates

(agi.foundation.core-2024r3.jar)

Class ElementaryRotation

java.lang.Object

agi.foundation.coordinates.ElementaryRotation

All Implemented Interfaces:

IEquatable<ElementaryRotation>, ImmutableValueType, ValueType, IEquatableEpsilon<ElementaryRotation>

public final class ElementaryRotation
extends Object
implements IEquatable<ElementaryRotation>, IEquatableEpsilon<ElementaryRotation>, ImmutableValueType

Represents a rotation about a principal axis. This represents an 'alias' rotation which transforms coordinates by modifying the underlying coordinate basis, rather than modifying the coordinates themselves. To transform a Cartesian with this rotation, see Cartesian.rotate(UnitQuaternion).

For more information, see the Coordinates topic.

See Also:

AngleAxisRotation, EulerSequence, Matrix3By3, Quaternion, UnitQuaternion, YawPitchRoll

Constructor Summary

Constructors

Constructor and Description
ElementaryRotation() Initializes a new instance.
ElementaryRotation(AxisIndicator axis, double angle) Initializes an ElementaryRotation from the provided values.

Method Summary

Modifier and Type	Method and Description
static boolean	equals(ElementaryRotation left, ElementaryRotation right) Returns true if the two instances are exactly equal.
boolean	equals(Object obj) Indicates whether another object is exactly equal to this instance.
boolean	equalsEpsilon(ElementaryRotation other, double epsilon) Returns true if all of the elements of this rotation are within epsilon of the same elements of the specified rotation.
boolean	equalsType(ElementaryRotation other) Indicates whether another instance of this type is exactly equal to this instance.
double	getAngle() Gets the angle of rotation.
AxisIndicator	getAxis() Gets the axis of rotation.
int	hashCode() Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.
ElementaryRotation	invert() Inverts this instance, yielding a new ElementaryRotation.
ElementaryRotation	multiply(double scalar) Multiplies this instance by a scalar, yielding a new ElementaryRotation.
static ElementaryRotation	multiply(double scalar, ElementaryRotation rotation) Multiplies a scalar by a specified ElementaryRotation, yielding a new ElementaryRotation.
Matrix3By3	multiply(ElementaryRotation rotation) Multiplies this instance by the specified ElementaryRotation, yielding a Matrix3By3.
static ElementaryRotation	multiply(ElementaryRotation rotation, double scalar) Multiplies a specified ElementaryRotation by a scalar, yielding a new ElementaryRotation.
static Matrix3By3	multiply(ElementaryRotation left, ElementaryRotation right) Multiplies a specified ElementaryRotation by a specified ElementaryRotation, yielding a new Matrix3By3.
static Matrix3By3	multiply(ElementaryRotation rotation, Matrix3By3 matrix) Multiplies a specified ElementaryRotation by a specified Matrix3By3, yielding a new Matrix3By3.
static UnitQuaternion	multiply(ElementaryRotation rotation, UnitQuaternion quaternion) Multiplies a specified ElementaryRotation by a specified UnitQuaternion, yielding a new Quaternion.
Matrix3By3	multiply(Matrix3By3 matrix) Multiplies this instance by the specified Matrix3By3, yielding a Matrix3By3.
UnitQuaternion	multiply(UnitQuaternion quaternion) Multiplies this instance by the specified UnitQuaternion, yielding a UnitQuaternion.
static boolean	notEquals(ElementaryRotation left, ElementaryRotation right) Returns true if the two instances are not exactly equal.
String	toString() Returns the value of this set of ElementaryRotation coordinates in the form "axis, angle"

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

ElementaryRotation

public ElementaryRotation()

Initializes a new instance.

ElementaryRotation

public ElementaryRotation(@Nonnull
                          AxisIndicator axis,
                          double angle)

Initializes an ElementaryRotation from the provided values.

Parameters:

axis - The axis of rotation.

angle - The angle of rotation.

Method Detail

getAxis

@Nonnull
public final AxisIndicator getAxis()

Gets the axis of rotation.

getAngle

public final double getAngle()

Gets the angle of rotation.

invert

@Nonnull
public final ElementaryRotation invert()

Inverts this instance, yielding a new ElementaryRotation.

Returns:

The inverted ElementaryRotation.

multiply

@Nonnull
public final ElementaryRotation multiply(double scalar)

Multiplies this instance by a scalar, yielding a new ElementaryRotation.

Parameters:

scalar - The scalar.

Returns:

The result of the multiplication.

multiply

@Nonnull
public final Matrix3By3 multiply(@Nonnull
                                           ElementaryRotation rotation)

Multiplies this instance by the specified ElementaryRotation, yielding a Matrix3By3.

Parameters:

rotation - The elementary rotation.

Returns:

The result of the multiplication.

multiply

@Nonnull
public final UnitQuaternion multiply(@Nonnull
                                               UnitQuaternion quaternion)

Multiplies this instance by the specified UnitQuaternion, yielding a UnitQuaternion.

Parameters:

quaternion - The quaternion.

Returns:

The result of the multiplication.

Throws:

UnsupportedCaseException - Thrown if the Axis (get) of this ElementaryRotation is not AxisIndicator.FIRST, AxisIndicator.SECOND, or AxisIndicator.THIRD.

multiply

@Nonnull
public final Matrix3By3 multiply(@Nonnull
                                           Matrix3By3 matrix)

Multiplies this instance by the specified Matrix3By3, yielding a Matrix3By3.

Parameters:

matrix - The matrix.

Returns:

The result of the multiplication.

Throws:

UnsupportedCaseException - Thrown if the Axis (get) of this ElementaryRotation is not AxisIndicator.FIRST, AxisIndicator.SECOND, or AxisIndicator.THIRD.

multiply

@Nonnull
public static ElementaryRotation multiply(@Nonnull
                                                    ElementaryRotation rotation,
                                                    double scalar)

Multiplies a specified ElementaryRotation by a scalar, yielding a new ElementaryRotation.

Parameters:

rotation - The elementary rotation.

scalar - The scalar.

Returns:

The result of the multiplication.

multiply

@Nonnull
public static ElementaryRotation multiply(double scalar,
                                                    @Nonnull
                                                    ElementaryRotation rotation)

Multiplies a scalar by a specified ElementaryRotation, yielding a new ElementaryRotation.

Parameters:

scalar - The scalar.

rotation - The elementary rotation.

Returns:

The result of the multiplication.

multiply

@Nonnull
public static UnitQuaternion multiply(@Nonnull
                                                ElementaryRotation rotation,
                                                @Nonnull
                                                UnitQuaternion quaternion)

Multiplies a specified ElementaryRotation by a specified UnitQuaternion, yielding a new Quaternion.

Parameters:

rotation - The elementary rotation.

quaternion - The unit quaternion.

Returns:

The result of the multiplication.

multiply

@Nonnull
public static Matrix3By3 multiply(@Nonnull
                                            ElementaryRotation rotation,
                                            @Nonnull
                                            Matrix3By3 matrix)

Multiplies a specified ElementaryRotation by a specified Matrix3By3, yielding a new Matrix3By3.

Parameters:

rotation - The elementary rotation.

matrix - The matrix.

Returns:

The result of the multiplication.

multiply

@Nonnull
public static Matrix3By3 multiply(@Nonnull
                                            ElementaryRotation left,
                                            @Nonnull
                                            ElementaryRotation right)

Multiplies a specified ElementaryRotation by a specified ElementaryRotation, yielding a new Matrix3By3.

Parameters:

left - The first rotation.

right - The second rotation.

Returns:

The result of the multiplication.

equals

public boolean equals(Object obj)

Indicates whether another object is exactly equal to this instance.

Overrides:

equals in class Object

Parameters:

obj - The object to compare to this instance.

Returns:

true if obj is an instance of this type and represents the same value as this instance; otherwise false.

See Also:

Object.hashCode(), HashMap

equalsType

public final boolean equalsType(@Nonnull
                                ElementaryRotation other)

Indicates whether another instance of this type is exactly equal to this instance.

Specified by:

equalsType in interface IEquatable<ElementaryRotation>

Parameters:

other - The instance to compare to this instance.

Returns:

true if other represents the same value as this instance; otherwise false.

equalsEpsilon

public final boolean equalsEpsilon(@Nonnull
                                   ElementaryRotation other,
                                   double epsilon)

Returns true if all of the elements of this rotation are within epsilon of the same elements of the specified rotation. That is, in order for the rotations to be considered equal (and for this function to return true), the absolute value of the difference between each of their elements must be less than or equal to epsilon.

Specified by:

equalsEpsilon in interface IEquatableEpsilon<ElementaryRotation>

Parameters:

other - The rotation to compare to this rotation.

epsilon - The largest difference between the elements of the rotations for which they will be considered equal.

Returns:

true if the rotations are equal as defined by the epsilon value.

hashCode

public int hashCode()

Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.

Overrides:

hashCode in class Object

Returns:

A hash code for the current object.

See Also:

Object.equals(java.lang.Object), System.identityHashCode(java.lang.Object)

toString

public String toString()

Returns the value of this set of ElementaryRotation coordinates in the form "axis, angle"

Overrides:

toString in class Object

Returns:

The string.

equals

public static boolean equals(@Nonnull
                             ElementaryRotation left,
                             @Nonnull
                             ElementaryRotation right)

Returns true if the two instances are exactly equal.

Parameters:

left - The instance to compare to right.

right - The instance to compare to left.

Returns:

true if left represents the same value as right; otherwise false.

notEquals

public static boolean notEquals(@Nonnull
                                ElementaryRotation left,
                                @Nonnull
                                ElementaryRotation right)

Returns true if the two instances are not exactly equal.

Parameters:

left - The instance to compare to right.

right - The instance to compare to left.

Returns:

true if left does not represent the same value as right; otherwise false.