agi.foundation.coordinates

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

Class HelmertTransformation

java.lang.Object

agi.foundation.coordinates.HelmertTransformation

All Implemented Interfaces:

IEquatable<HelmertTransformation>, ImmutableValueType, ValueType

public final class HelmertTransformation
extends Object
implements IEquatable<HelmertTransformation>, ImmutableValueType

A Helmert transformation describing how to transform from one international terrestrial reference frame (ITRF) to another.

See the ITRF website for details on how the Helmert transformations are performed.

Constructor Summary

Constructors

Constructor and Description
HelmertTransformation() Initializes a new instance.
HelmertTransformation(Cartesian translation, Cartesian translationalVelocity, double scaling, double scalingRate, Cartesian rotation, Cartesian rotationalVelocity) Initializes a new instance with the specified translational, scaling, and rotational parameters.

Method Summary

Modifier and Type	Method and Description
HelmertTransformation	compose(HelmertTransformation other) Forms a new KinematicTransformation as the composition of this transformation and the provided transformation.
static boolean	equals(HelmertTransformation left, HelmertTransformation 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	equalsType(HelmertTransformation other) Indicates whether another instance of this type is exactly equal to this instance.
Cartesian	getRotation() Gets the off-diagonal components of the skew-symmetric rotation matrix.
Cartesian	getRotationalVelocity() Gets the rate of change of the off-diagonal components over time.
double	getScaling() Gets a small number that is added to one to form the diagonal components of the skew-symmetric rotation matrix.
double	getScalingRate() Gets the change in Scaling (get) over time.
Cartesian	getTranslation() Gets the relative position vector between the reference frames.
Cartesian	getTranslationalVelocity() Gets the relative velocity vector between the reference frames.
int	hashCode() Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.
HelmertTransformation	invert() Forms the inverse Helmert transformation.
static boolean	notEquals(HelmertTransformation left, HelmertTransformation right) Returns true if the two instances are not exactly equal.
Cartesian	transform(Cartesian position) Transforms the position observed in the A frame to the B frame.
Motion1<Cartesian>	transform(Motion1<Cartesian> motion) Transforms the motion observed in the A frame to the B frame.
Motion1<Cartesian>	transform(Motion1<Cartesian> motion, int order) Transforms the motion observed in the A frame to the B frame.

Methods inherited from class java.lang.Object

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

Constructor Detail

HelmertTransformation

public HelmertTransformation()

Initializes a new instance.

HelmertTransformation

public HelmertTransformation(@Nonnull
                             Cartesian translation,
                             @Nonnull
                             Cartesian translationalVelocity,
                             double scaling,
                             double scalingRate,
                             @Nonnull
                             Cartesian rotation,
                             @Nonnull
                             Cartesian rotationalVelocity)

Initializes a new instance with the specified translational, scaling, and rotational parameters.

Parameters:

translation - The translation.

translationalVelocity - The translational velocity.

scaling - A small number that is added to one to form the diagonal components of the skew-symmetric rotation matrix.

scalingRate - The change in the scaling over time.

rotation - The off-diagonal components of the skew-symmetric rotation matrix.

rotationalVelocity - The rate of change of the off-diagonal components over time.

Method Detail

getTranslation

@Nonnull
public final Cartesian getTranslation()

Gets the relative position vector between the reference frames.

getTranslationalVelocity

@Nonnull
public final Cartesian getTranslationalVelocity()

Gets the relative velocity vector between the reference frames.

getScaling

public final double getScaling()

Gets a small number that is added to one to form the diagonal components of the skew-symmetric rotation matrix.

getScalingRate

public final double getScalingRate()

Gets the change in Scaling (get) over time.

getRotation

@Nonnull
public final Cartesian getRotation()

Gets the off-diagonal components of the skew-symmetric rotation matrix.

getRotationalVelocity

@Nonnull
public final Cartesian getRotationalVelocity()

Gets the rate of change of the off-diagonal components over time.

invert

@Nonnull
public final HelmertTransformation invert()

Forms the inverse Helmert transformation. If this transformation represents the transformation between International Terrestrial Reference Frame (ITRF) "A" and International Terrestrial Reference Frame (ITRF) "B", the result represents the transformation between ITRF "B" and ITRF "A".

The inverse computed by simply taking the negative of Translation (get), TranslationalVelocity (get), Scaling (get), ScalingRate (get), Rotation (get), and RotationalVelocity (get).

Returns:

The transformation between reference frame "B" and reference frame "A".

transform

@Nonnull
public final Cartesian transform(@Nonnull
                                           Cartesian position)

Transforms the position observed in the A frame to the B frame.

Parameters:

position - The position to transform.

Returns:

The transformed position.

transform

@Nonnull
public final Motion1<Cartesian> transform(@Nonnull
                                                    Motion1<Cartesian> motion)

Transforms the motion observed in the A frame to the B frame.

Parameters:

motion - The motion to transform.

Returns:

The transformed motion.

transform

@Nonnull
public final Motion1<Cartesian> transform(@Nonnull
                                                    Motion1<Cartesian> motion,
                                                    int order)

Transforms the motion observed in the A frame to the B frame.

Parameters:

motion - The motion to transform.

order - The order of highest required derivative. To retrieve just the position, pass 0 for this value. To retrieve the velocity as well, pass 1. etc.

Returns:

The transformed motion.

compose

@Nonnull
public final HelmertTransformation compose(@Nonnull
                                                     HelmertTransformation other)

Forms a new KinematicTransformation as the composition of this transformation and the provided transformation. If this transformation represents the transformation between International Terrestrial Reference Frame (ITRF) "B" and International Terrestrial Reference Frame (ITRF) "C" and the provided transformation represents the transformation between ITRF "A" and ITRF "B", the result represents the transformation between ITRF "A" and ITRF "C".

Parameters:

other - The transformation between ITRF "A" and ITRF "B".

Returns:

The transformation between ITRF "A" and ITRF "C".

equalsType

public final boolean equalsType(@Nonnull
                                HelmertTransformation other)

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

Specified by:

equalsType in interface IEquatable<HelmertTransformation>

Parameters:

other - The instance to compare to this instance.

Returns:

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

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

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)

equals

public static boolean equals(@Nonnull
                             HelmertTransformation left,
                             @Nonnull
                             HelmertTransformation 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
                                HelmertTransformation left,
                                @Nonnull
                                HelmertTransformation 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.