agi.foundation.coordinates

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

Class OrthonormalBasis

java.lang.Object

agi.foundation.coordinates.OrthonormalBasis

public class OrthonormalBasis
extends Object

Represents an orthonormal basis spanning Cartesian space.

Constructor Summary

Constructors

Constructor and Description
OrthonormalBasis(UnitCartesian direction) Initializes an orthonormal bases with the input direction.
OrthonormalBasis(UnitCartesian principal, UnitCartesian reference) Initializes an orthonormal bases with the input direction and reference.

Method Summary

Modifier and Type	Method and Description
UnitCartesian	getFirstAxis() Gets the first axis.
UnitQuaternion	getRotation() Gets the rotation from the axes of the defining Cartesian vector(s) to the axes of the basis.
UnitCartesian	getSecondAxis() Gets the second axis.
UnitCartesian	getThirdAxis() Gets the third axis.
String	toString() Returns the UnitCartesians that define this OrthonormalBasis in the format "FirstAxis (get) ; SecondAxis (get) ; ThirdAxis (get)".

Methods inherited from class java.lang.Object

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

Constructor Detail

OrthonormalBasis

public OrthonormalBasis(@Nonnull
                        UnitCartesian direction)

Initializes an orthonormal bases with the input direction.

The most orthogonal axis will be used as the reference direction.

Parameters:

direction - The direction.

OrthonormalBasis

public OrthonormalBasis(@Nonnull
                        UnitCartesian principal,
                        @Nonnull
                        UnitCartesian reference)

Initializes an orthonormal bases with the input direction and reference.

The first axis coincides with the principal direction. The seconds axis is the unit vector in the direction defined by crossing the reference direction with the principal direction. The third axis is then the result of crossing the first and second axes.

Parameters:

principal - The principal direction.

reference - The reference direction.

Method Detail

getFirstAxis

@Nonnull
public final UnitCartesian getFirstAxis()

Gets the first axis.

getSecondAxis

@Nonnull
public final UnitCartesian getSecondAxis()

Gets the second axis.

getThirdAxis

@Nonnull
public final UnitCartesian getThirdAxis()

Gets the third axis.

toString

public String toString()

Returns the UnitCartesians that define this OrthonormalBasis in the format "FirstAxis (get) ; SecondAxis (get) ; ThirdAxis (get)".

Overrides:

toString in class Object

Returns:

The string.

getRotation

@Nonnull
public final UnitQuaternion getRotation()

Gets the rotation from the axes of the defining Cartesian vector(s) to the axes of the basis.