agi.foundation.coordinates

(agi.foundation.core-2024r2.jar)

Class RotationalTransformation

java.lang.Object

agi.foundation.coordinates.RotationalTransformation

public final class RotationalTransformation
extends Object

Holds static methods for manipulating a Motion2 representing a rotation and its derivatives.

Method Summary

Modifier and Type	Method and Description
static Motion2<UnitQuaternion,Cartesian>	compose(AngleAxisRotation first, Motion2<UnitQuaternion,Cartesian> second, int order) Forms a new rotational transformation as the composition of two transformations.
static Motion2<UnitQuaternion,Cartesian>	compose(ElementaryRotation first, Motion2<UnitQuaternion,Cartesian> second, int order) Forms a new rotational transformation as the composition of two transformations.
static Motion2<UnitQuaternion,Cartesian>	compose(Motion2<UnitQuaternion,Cartesian> first, AngleAxisRotation second, int order) Forms a new rotational transformation as the composition of two transformations.
static Motion2<UnitQuaternion,Cartesian>	compose(Motion2<UnitQuaternion,Cartesian> first, ElementaryRotation second, int order) Forms a new rotational transformation as the composition of two transformations.
static Motion2<UnitQuaternion,Cartesian>	compose(Motion2<UnitQuaternion,Cartesian> first, Motion2<UnitQuaternion,Cartesian> second, int order) Forms a new rotational transformation as the composition of two transformations.
static Motion2<UnitQuaternion,Cartesian>	invert(Motion2<UnitQuaternion,Cartesian> motion, int order) Forms the inverse rotational transformation.
static Motion1<Cartesian>	transform(Motion2<UnitQuaternion,Cartesian> rotationalTransformation, Motion1<Cartesian> motion, int order) Transforms the vector observed in the A axes to the B axes.

Methods inherited from class java.lang.Object

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

Method Detail

invert

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> invert(@Nonnull
                                                                 Motion2<UnitQuaternion,Cartesian> motion,
                                                                 int order)

Forms the inverse rotational transformation. If this transformation represents the transformation between axes "A" and axes "B", the result represents the transformation between axes "B" and axes "A".

Parameters:

motion - The transformation between axes "A" and axes "B".

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

Returns:

The transformation between axes "B" and axes "A".

compose

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> compose(@Nonnull
                                                                  Motion2<UnitQuaternion,Cartesian> first,
                                                                  @Nonnull
                                                                  Motion2<UnitQuaternion,Cartesian> second,
                                                                  int order)

Forms a new rotational transformation as the composition of two transformations. If the first transformation represents the transformation between axes "B" and axes "C" and the second transformation represents the transformation between axes "A" and axes "B", the result represents the transformation between axes "A" and axes "C".

Parameters:

first - The transformation between axes "B" and axes "C".

second - The transformation between axes "A" and axes "B".

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

Returns:

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

compose

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> compose(@Nonnull
                                                                  Motion2<UnitQuaternion,Cartesian> first,
                                                                  @Nonnull
                                                                  ElementaryRotation second,
                                                                  int order)

Forms a new rotational transformation as the composition of two transformations. The rotational rates of the second transformation are assumed to be zero. If the first transformation represents the transformation between axes "B" and axes "C" and the second transformation represents the transformation between axes "A" and axes "B", the result represents the transformation between axes "A" and axes "C".

Parameters:

first - The transformation between axes "B" and axes "C".

second - The transformation between axes "A" and axes "B".

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

Returns:

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

compose

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> compose(@Nonnull
                                                                  ElementaryRotation first,
                                                                  @Nonnull
                                                                  Motion2<UnitQuaternion,Cartesian> second,
                                                                  int order)

Forms a new rotational transformation as the composition of two transformations. The rotational rates of the first transformation are assumed to be zero. If the first transformation represents the transformation between axes "B" and axes "C" and the second transformation represents the transformation between axes "A" and axes "B", the result represents the transformation between axes "A" and axes "C".

Parameters:

first - The transformation between axes "B" and axes "C".

second - The transformation between axes "A" and axes "B".

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

Returns:

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

compose

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> compose(@Nonnull
                                                                  Motion2<UnitQuaternion,Cartesian> first,
                                                                  @Nonnull
                                                                  AngleAxisRotation second,
                                                                  int order)

Forms a new rotational transformation as the composition of two transformations. The rotational rates of the second transformation are assumed to be zero. If the first transformation represents the transformation between axes "B" and axes "C" and the second transformation represents the transformation between axes "A" and axes "B", the result represents the transformation between axes "A" and axes "C".

Parameters:

first - The transformation between axes "B" and axes "C".

second - The transformation between axes "A" and axes "B".

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

Returns:

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

compose

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> compose(@Nonnull
                                                                  AngleAxisRotation first,
                                                                  @Nonnull
                                                                  Motion2<UnitQuaternion,Cartesian> second,
                                                                  int order)

Forms a new rotational transformation as the composition of two transformations. The rotational rates of the first transformation are assumed to be zero. If the first transformation represents the transformation between axes "B" and axes "C" and the second transformation represents the transformation between axes "A" and axes "B", the result represents the transformation between axes "A" and axes "C".

Parameters:

first - The transformation between axes "B" and axes "C".

second - The transformation between axes "A" and axes "B".

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

Returns:

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

transform

@Nonnull
public static Motion1<Cartesian> transform(@Nonnull
                                                     Motion2<UnitQuaternion,Cartesian> rotationalTransformation,
                                                     @Nonnull
                                                     Motion1<Cartesian> motion,
                                                     int order)

Transforms the vector observed in the A axes to the B axes.

Parameters:

rotationalTransformation - The transformation from the A axes to the B axes.

motion - The vector motion to transform.

order - The order of highest required derivative. To retrieve just the vector, pass 0 for this value. To retrieve the vector and its derivative, pass 1. etc.

Returns:

The vector transformed by the rotational transformation.