agi.foundation.coordinates

(agi.foundation.orbitpropagation-2023r1.jar)

Class RotationVectorAngularVelocity

java.lang.Object

agi.foundation.coordinates.RotationVectorAngularVelocity

All Implemented Interfaces:

IEquatable<RotationVectorAngularVelocity>, ImmutableValueType, ValueType

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

A set of Cartesian rotation vectors combined with Cartesian body-fixed angular velocity vectors.

Contains static methods that can convert this data type to UnitQuaternion, Motion<UnitQuaternion, Cartesian>, and other related types.

Constructor Summary

Constructors

Constructor and Description
RotationVectorAngularVelocity() Initializes a new instance.
RotationVectorAngularVelocity(Cartesian rotationVector, Cartesian angularVelocity) Initializes this type directly from a rotation vector and a body-fixed angular velocity.
RotationVectorAngularVelocity(double[] elements) Initializes a set of RotationVectorAngularVelocity coordinates from the first 6 consecutive elements in the provided array.
RotationVectorAngularVelocity(double[] elements, int startIndex) Initializes a set of RotationVectorAngularVelocity coordinates from 6 consecutive elements in the provided array.
RotationVectorAngularVelocity(double x, double y, double z, double omegaX, double omegaY, double omegaZ) Initializes this type from rotation vector and angular velocity components.

Method Summary

Modifier and Type	Method and Description
boolean	equals(Object obj) Indicates whether another object is exactly equal to this instance.
static boolean	equals(RotationVectorAngularVelocity left, RotationVectorAngularVelocity right) An equality operator overload that compares two RotationVectorAngularVelocity objects.
boolean	equalsType(RotationVectorAngularVelocity other) Indicates whether another instance of this type is exactly equal to this instance.
Cartesian	getAngularVelocity() Gets the body-fixed angular velocity of the rigid-body.
double	getOmegaX() Gets the body-fixed angular velocity coordinate along the positive x-axis.
double	getOmegaY() Gets the body-fixed angular velocity coordinate along the positive y-axis.
double	getOmegaZ() Gets the body-fixed angular velocity coordinate along the positive z-axis.
Cartesian	getRotationVector() Gets the rotation vector, which is the rotation angle times the rotation axis.
double	getX() Gets the rotation vector coordinate along the positive x-axis.
double	getY() Gets the rotation vector coordinate along the positive y-axis.
double	getZ() Gets the rotation vector coordinate along the positive z-axis.
int	hashCode() Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.
static boolean	notEquals(RotationVectorAngularVelocity left, RotationVectorAngularVelocity right) An inequality operator overload that compares two RotationVectorAngularVelocity objects.
static UnitQuaternion	rotationVectorToUnitQuaternion(Cartesian rotationVector) Converts a rotation vector to a unit quaternion.
static DateMotionCollection1<RotationVectorAngularVelocity>	toDateMotionCollectionRotationVectorAngularVelocity(DateMotionCollection2<UnitQuaternion,Cartesian> inputCollection, int order) Converts a DateMotionCollection<UnitQuaternion, Cartesian> to a DateMotionCollection<RotationVectorAngularVelocity>.
static DateMotionCollection2<UnitQuaternion,Cartesian>	toDateMotionCollectionUnitQuaternionCartesian(DateMotionCollection1<RotationVectorAngularVelocity> inputCollection, int order) Converts a DateMotionCollection<RotationVectorAngularVelocity> to a DateMotionCollection<UnitQuaternion, Cartesian>.
static Motion1<RotationVectorAngularVelocity>	toMotionRotationVectorAngularVelocity(Motion2<UnitQuaternion,Cartesian> motionUnitQuaternionCartesian, int order) Converts a Motion<UnitQuaternion, Cartesian> to a Motion<RotationVectorAngularVelocity>.
static Motion2<UnitQuaternion,Cartesian>	toMotionUnitQuaternionCartesian(Motion1<RotationVectorAngularVelocity> motionRotationVectorAngularVelocity, int order) Converts a Motion<RotationVectorAngularVelocity> to a Motion<UnitQuaternion, Cartesian>.
static Motion2<UnitQuaternion,Cartesian>	toMotionUnitQuaternionCartesian(RotationVectorAngularVelocity rotationVectorAngularVelocity, int order) Converts a RotationVectorAngularVelocity to a Motion<UnitQuaternion, Cartesian>.
static RotationVectorAngularVelocity	toRotationVectorAngularVelocity(Motion2<UnitQuaternion,Cartesian> motionUnitQuaternionCartesian) Converts a Motion<UnitQuaternion, Cartesian> to a RotationVectorAngularVelocity.
static Cartesian	unitQuaternionToRotationVector(UnitQuaternion unitQuaternion) Converts a unit quaternion to a rotation vector.

Methods inherited from class java.lang.Object

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

Constructor Detail

RotationVectorAngularVelocity

public RotationVectorAngularVelocity()

Initializes a new instance.

RotationVectorAngularVelocity

public RotationVectorAngularVelocity(@Nonnull
                                     Cartesian rotationVector,
                                     @Nonnull
                                     Cartesian angularVelocity)

Initializes this type directly from a rotation vector and a body-fixed angular velocity.

Parameters:

rotationVector - The rotation vector whose magnitude is a rotation angle and whose direction is a rotation axis.

angularVelocity - The body-fixed angular velocity of a rigid-body.

RotationVectorAngularVelocity

public RotationVectorAngularVelocity(double x,
                                     double y,
                                     double z,
                                     double omegaX,
                                     double omegaY,
                                     double omegaZ)

Initializes this type from rotation vector and angular velocity components.

Parameters:

x - The x-component of the rotation vector.

y - The y-component of the rotation vector.

z - The z-component of the rotation vector.

omegaX - The x-component of the body-fixed angular velocity.

omegaY - The y-component of the body-fixed angular velocity.

omegaZ - The z-component of the body-fixed angular velocity.

RotationVectorAngularVelocity

public RotationVectorAngularVelocity(@Nonnull
                                     double[] elements)

Initializes a set of RotationVectorAngularVelocity coordinates from the first 6 consecutive elements in the provided array.

Parameters:

elements - The array of coordinate values.

Throws:

ArgumentNullException - Thrown when elements is null.

ArgumentOutOfRangeException - An object of this type must be constructed from an array with at least 6 elements.

RotationVectorAngularVelocity

public RotationVectorAngularVelocity(@Nonnull
                                     double[] elements,
                                     int startIndex)

Initializes a set of RotationVectorAngularVelocity coordinates from 6 consecutive elements in the provided array.

Parameters:

elements - The array of coordinate values.

startIndex - The index of the first element in the array to use.

Throws:

ArgumentNullException - Thrown when the array of elements is null.

ArgumentOutOfRangeException - Thrown when an object of this type is constructed from an array with less than 6 elements.

Method Detail

getRotationVector

@Nonnull
public final Cartesian getRotationVector()

Gets the rotation vector, which is the rotation angle times the rotation axis.

getAngularVelocity

@Nonnull
public final Cartesian getAngularVelocity()

Gets the body-fixed angular velocity of the rigid-body.

getX

public final double getX()

Gets the rotation vector coordinate along the positive x-axis.

getY

public final double getY()

Gets the rotation vector coordinate along the positive y-axis.

getZ

public final double getZ()

Gets the rotation vector coordinate along the positive z-axis.

getOmegaX

public final double getOmegaX()

Gets the body-fixed angular velocity coordinate along the positive x-axis.

getOmegaY

public final double getOmegaY()

Gets the body-fixed angular velocity coordinate along the positive y-axis.

getOmegaZ

public final double getOmegaZ()

Gets the body-fixed angular velocity coordinate along the positive z-axis.

rotationVectorToUnitQuaternion

@Nonnull
public static UnitQuaternion rotationVectorToUnitQuaternion(@Nonnull
                                                                      Cartesian rotationVector)

Converts a rotation vector to a unit quaternion.

Parameters:

rotationVector - A rotation vector, which is the rotation angle times the rotation axis.

Returns:

A quaternion that represents the same rotation as the rotation vector.

unitQuaternionToRotationVector

@Nonnull
public static Cartesian unitQuaternionToRotationVector(@Nonnull
                                                                 UnitQuaternion unitQuaternion)

Converts a unit quaternion to a rotation vector.

Parameters:

unitQuaternion - A representation of the attitude of a rigid body.

Returns:

A rotation vector that represents the same rotation as the UnitQuaternion.

toMotionUnitQuaternionCartesian

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> toMotionUnitQuaternionCartesian(@Nonnull
                                                                                          RotationVectorAngularVelocity rotationVectorAngularVelocity,
                                                                                          int order)

Converts a RotationVectorAngularVelocity to a Motion<UnitQuaternion, Cartesian>.

Parameters:

rotationVectorAngularVelocity - A parameter representing the rotation vector and body-fixed angular velocity of a rigid-body.

order - An order of 0 or less produces a motion with only the unit quaternion value initialized. An order of 1 or greater produces a motion with both the unit quaternion and the angular velocity expressed in the inertial axes.

Returns:

A motion that represents the attitude and inertial angular velocity of a rigid body.

toMotionUnitQuaternionCartesian

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> toMotionUnitQuaternionCartesian(@Nonnull
                                                                                          Motion1<RotationVectorAngularVelocity> motionRotationVectorAngularVelocity,
                                                                                          int order)

Converts a Motion<RotationVectorAngularVelocity> to a Motion<UnitQuaternion, Cartesian>.

Parameters:

motionRotationVectorAngularVelocity - A motion representing the rotation vector and body-fixed angular velocity of a rigid-body. The first derivatives of these parameters may also be included.

order - An order of 0 or less produces a motion with only the unit quaternion value initialized. An order of 1 produces a motion with both the unit quaternion and the angular velocity expressed in the inertial axes. An order of 2 or greater produces a motion with the unit quaternion, inertial angular velocity, and inertial angular acceleration.

Returns:

A motion that represents the attitude, inertial angular velocity, and inertial angular acceleration of a rigid body.

toRotationVectorAngularVelocity

@Nonnull
public static RotationVectorAngularVelocity toRotationVectorAngularVelocity(@Nonnull
                                                                                      Motion2<UnitQuaternion,Cartesian> motionUnitQuaternionCartesian)

Converts a Motion<UnitQuaternion, Cartesian> to a RotationVectorAngularVelocity.

Parameters:

motionUnitQuaternionCartesian - A motion that represents the attitude and inertial angular velocity of a rigid body.

Returns:

A parameter that includes the rotation vector and body-fixed angular velocity of a rigid-body.

toMotionRotationVectorAngularVelocity

@Nonnull
public static Motion1<RotationVectorAngularVelocity> toMotionRotationVectorAngularVelocity(@Nonnull
                                                                                                     Motion2<UnitQuaternion,Cartesian> motionUnitQuaternionCartesian,
                                                                                                     int order)

Converts a Motion<UnitQuaternion, Cartesian> to a Motion<RotationVectorAngularVelocity>.

Parameters:

motionUnitQuaternionCartesian - A motion that represents the attitude and inertial angular velocity of a rigid body.

order - An order of 0 or less produces a motion with only the rotation vector and body-fixed angular velocity initialized. An order of 1 or greater produces a motion that also includes the first derivative of the rotation vector and the body-fixed angular acceleration.

Returns:

A motion that represents the rotation vector, body-fixed angular velocity, and their first derivatives.

toDateMotionCollectionUnitQuaternionCartesian

public static DateMotionCollection2<UnitQuaternion,Cartesian> toDateMotionCollectionUnitQuaternionCartesian(DateMotionCollection1<RotationVectorAngularVelocity> inputCollection,
                                                                                                            int order)

Converts a DateMotionCollection<RotationVectorAngularVelocity> to a DateMotionCollection<UnitQuaternion, Cartesian>.

Parameters:

inputCollection - A collection of rotation vectors, body-fixed angular velocities, and their derivatives at fixed dates.

order - An order of 0 or less produces a DateMotionCollection<UnitQuaternion, Cartesian> with only the unit quaternion value initialized. An order of 1 produces a collection with both the unit quaternion and the angular velocity expressed in the inertial axes. An order of 2 or greater produces a collection with the unit quaternion, inertial angular velocity, and inertial angular acceleration.

Returns:

A collection that represents the attitude and inertial attitude derivatives of a rigid-body at fixed dates.

toDateMotionCollectionRotationVectorAngularVelocity

public static DateMotionCollection1<RotationVectorAngularVelocity> toDateMotionCollectionRotationVectorAngularVelocity(DateMotionCollection2<UnitQuaternion,Cartesian> inputCollection,
                                                                                                                       int order)

Converts a DateMotionCollection<UnitQuaternion, Cartesian> to a DateMotionCollection<RotationVectorAngularVelocity>.

Parameters:

inputCollection - A collection of attitude quaternions, inertial angular velocities, and inertial angular accelerations at fixed dates.

order - An order of 0 or less produces a DateMotionCollection<RotationVectorAngularVelocity> with only the rotation vector and body-fixed angular velocity initialized. An order of 1 or greater produces a collection that also includes the first derivative of the rotation vector and the body-fixed angular acceleration.

Returns:

A collection that represents the rotation vector, body-fixed angular velocity, and their derivatives at fixed dates.

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
                                RotationVectorAngularVelocity other)

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

Specified by:

equalsType in interface IEquatable<RotationVectorAngularVelocity>

Parameters:

other - The instance to compare to this instance.

Returns:

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

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
                             RotationVectorAngularVelocity left,
                             @Nonnull
                             RotationVectorAngularVelocity right)

An equality operator overload that compares two RotationVectorAngularVelocity objects.

Parameters:

left - The left hand side rotation vector and body-fixed angular velocity.

right - The right hand side rotation vector and body-fixed angular velocity.

Returns:

true if the two parameters are equal, and false if the two parameters are unequal.

notEquals

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

An inequality operator overload that compares two RotationVectorAngularVelocity objects.

Parameters:

left - The left hand side rotation vector and body-fixed angular velocity.

right - The right hand side rotation vector and body-fixed angular velocity.

Returns:

true if the two parameters are unequal, and false if the two parameters are equal.