agi.foundation.geometry

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

Class AxesAlignedConstrained

java.lang.Object

agi.foundation.infrastructure.DefinitionalObject

agi.foundation.geometry.Axes

agi.foundation.geometry.AxesAlignedConstrained

All Implemented Interfaces:

ICloneWithContext, IEnumerateDependencies, IEquatableDefinition, IFreezable, IServiceProvider

public class AxesAlignedConstrained
extends Axes

A set of axes with the one axis aligned with the Principal (get / set) direction vector and another axis constrained to minimize the angular separation from the Reference (get / set) vector. These axes remain aligned and constrained as the Principal (get / set) and Reference (get / set) vectors change with time. By default, the principal axis is the x-axis and the reference axis is along the z-axis.

Constructor Summary

Constructors

Modifier	Constructor and Description
	AxesAlignedConstrained() Initializes a new instance.
protected	AxesAlignedConstrained(AxesAlignedConstrained existingInstance, CopyContext context) Initializes a new instance as a copy of an existing instance.
	AxesAlignedConstrained(Vector principal, AxisIndicator principalAxis, Vector reference, AxisIndicator referenceAxis) Initializes a new instance.
	AxesAlignedConstrained(Vector principal, Vector reference) Initializes a new instance.

Method Summary

Modifier and Type	Method and Description
protected boolean	checkForSameDefinition(Axes other) Checks to determine if another instance has the same definition as this instance and returns true if it does.
protected boolean	checkForSameDefinition(AxesAlignedConstrained other) Checks to determine if another instance has the same definition as this instance and returns true if it does.
Object	clone(CopyContext context) Clones this object using the specified context.
protected int	computeCurrentDefinitionHashCode() Computes a hash code based on the current properties of this object.
static UnitQuaternion	computeTransformation(Cartesian principal, AxisIndicator principalAxis, Cartesian reference, AxisIndicator referenceAxis) Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.
static UnitQuaternion	computeTransformation(Cartesian principal, Cartesian reference) Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.
static Motion2<UnitQuaternion,Cartesian>	computeTransformation(Motion1<Cartesian> principal, AxisIndicator principalAxis, Motion1<Cartesian> reference, AxisIndicator referenceAxis, int order) Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.
static Motion2<UnitQuaternion,Cartesian>	computeTransformation(Motion1<Cartesian> principal, Motion1<Cartesian> reference, int order) Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.
static Motion2<UnitQuaternion,Cartesian>	computeTransformation(Motion2<UnitCartesian,Cartesian> principal, AxisIndicator principalAxis, Motion2<UnitCartesian,Cartesian> reference, AxisIndicator referenceAxis, int order) Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.
static Motion2<UnitQuaternion,Cartesian>	computeTransformation(Motion2<UnitCartesian,Cartesian> principal, Motion2<UnitCartesian,Cartesian> reference, int order) Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.
void	enumerateDependencies(DependencyEnumerator enumerator) Enumerates the dependencies of this object by calling DependencyEnumerator#enumerate(T) for each object that this object directly depends upon.
AxesEvaluator	getEvaluator(EvaluatorGroup group) Gets an evaluator that can be used to find the transformation from Principal (get / set)'s Axes to a new Axes defined by the Principal (get / set) and Reference (get / set) vectors at a given JulianDate.
Vector	getPrincipal() Gets the principal direction vector with which the X-axis of this set of axes will be aligned.
AxisIndicator	getPrincipalAxis() Gets the axis along which the Principal (get / set) vector is aligned.
Vector	getReference() Gets the reference direction vector.
AxisIndicator	getReferenceAxis() Gets the axis against which the Reference (get / set) vector is constrained.
void	setPrincipal(Vector value) Sets the principal direction vector with which the X-axis of this set of axes will be aligned.
void	setPrincipalAxis(AxisIndicator value) Sets the axis along which the Principal (get / set) vector is aligned.
void	setReference(Vector value) Sets the reference direction vector.
void	setReferenceAxis(AxisIndicator value) Sets the axis against which the Reference (get / set) vector is constrained.

Methods inherited from class agi.foundation.geometry.Axes

checkForSameDefinition, getEvaluator, getRoot, getService, getVectorElement, getVectorElement

Methods inherited from class agi.foundation.infrastructure.DefinitionalObject

areSameDefinition, areSameDefinition, areSameDefinition, areSameDefinition, areSameDefinition, collectionItemsAreSameDefinition, collectionItemsAreSameDefinition, collectionItemsAreSameDefinition, dictionaryItemsAreSameDefinition, freeze, freezeAggregatedObjects, getCollectionHashCode, getCollectionHashCode, getCollectionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDictionaryHashCode, getIsFrozen, isSameDefinition, throwIfFrozen

Methods inherited from class java.lang.Object

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

Constructor Detail

AxesAlignedConstrained

public AxesAlignedConstrained()

Initializes a new instance. The user must set Principal (get / set) and Reference (get / set).

AxesAlignedConstrained

public AxesAlignedConstrained(Vector principal,
                              Vector reference)

Initializes a new instance.

Parameters:

principal - The principal direction vector with which the X-axis of this set of axes will be aligned.

reference - The reference direction vector. The Z-axis of this set of axes will be constrained to minimize the angular separation from this vector.

AxesAlignedConstrained

public AxesAlignedConstrained(Vector principal,
                              @Nonnull
                              AxisIndicator principalAxis,
                              Vector reference,
                              @Nonnull
                              AxisIndicator referenceAxis)

Initializes a new instance.

Parameters:

principal - The principal direction vector with which the principalAxis of this set of axes will be aligned.

principalAxis - The axis along which the principal vector is aligned.

reference - The reference direction vector. The referenceAxis of this set of axes will be constrained to minimize the angular separation from this vector.

referenceAxis - The axis against which the reference vector is constrained.

Throws:

IllegalStateException - Thrown when the principalAxis and referenceAxis are identical.

AxesAlignedConstrained

protected AxesAlignedConstrained(@Nonnull
                                 AxesAlignedConstrained existingInstance,
                                 @Nonnull
                                 CopyContext context)

Initializes a new instance as a copy of an existing instance.

See ICloneWithContext.clone(CopyContext) for more information about how to implement this constructor in a derived class.

Parameters:

existingInstance - The existing instance to copy.

context - A CopyContext that controls the depth of the copy.

Throws:

ArgumentNullException - Thrown when existingInstance or context is null.

Method Detail

clone

public Object clone(CopyContext context)

Clones this object using the specified context.

This method should be implemented to call a copy constructor on the class of the object being cloned. The copy constructor should take the CopyContext as a parameter in addition to the existing instance to copy. The copy constructor should first call CopyContext.addObjectMapping(T, T) to identify the newly constructed instance as a copy of the existing instance. It should then copy all fields, using CopyContext.updateReference(T) to copy any reference fields.

A typical implementation of ICloneWithContext:

public static class MyClass implements ICloneWithContext {
    public MyClass(MyClass existingInstance, CopyContext context) {
        context.addObjectMapping(existingInstance, this);
        someReference = context.updateReference(existingInstance.someReference);
    }

    @Override
    public final Object clone(CopyContext context) {
        return new MyClass(this, context);
    }

    private Object someReference;
}

In general, all fields that are reference types should be copied with a call to CopyContext.updateReference(T). There are a couple of exceptions:

1. Fields that are aggregate parts of the object should always be copied. A referenced object is an aggregate if properties or methods on the object being copied can modify the externally-visible value of the referenced object.
2. If the semantics of the referenced object require that it have a single parent, owner, context, etc., and the object being copied is that parent, owner, or context, then the referenced object should always be copied.

If one of these exceptions applies, the CopyContext should be given an opportunity to update the reference before the reference is copied explicitly. Use CopyContext.updateReference(T) to update the reference. If CopyContext.updateReference(T) returns the original object, indicating that the context does not have a replacement registered, then copy the object manually by invoking a Clone method, a copy constructor, or by manually constructing a new instance and copying the values.

alwaysCopy = context.updateReference(existingInstance.alwaysCopy);
if (existingInstance.alwaysCopy != null && alwaysCopy == existingInstance.alwaysCopy) {
    alwaysCopy = (AlwaysCopy) existingInstance.alwaysCopy.clone(context);
}

If you are implementing an evaluator (a class that implements IEvaluator), the IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) method shares some responsibilities with the copy context constructor. Code duplication can be avoided by doing the following:

1. For references to other evaluators ONLY, simply assign the reference in the constructor instead of calling CopyContext.updateReference(T). You should still call CopyContext.updateReference(T) on any references to non-evaluators.
2. Call IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) as the last line in the constructor and pass it the same CopyContext passed to the constructor.
3. Implement IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) as normal. See the reference documentation for IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) for more information on implementing that method.

public MyClass(MyClass existingInstance, CopyContext context) {
    super(existingInstance, context);
    someReference = context.updateReference(existingInstance.someReference);
    evaluatorReference = existingInstance.evaluatorReference;
    updateEvaluatorReferences(context);
}

@Override
public void updateEvaluatorReferences(CopyContext context) {
    evaluatorReference = context.updateReference(evaluatorReference);
}

@Override
public Object clone(CopyContext context) {
    return new MyClass(this, context);
}

private Object someReference;
private IEvaluator evaluatorReference;

Specified by:

clone in interface ICloneWithContext

Specified by:

clone in class DefinitionalObject

Parameters:

context - The context to use to perform the copy.

Returns:

A new instance which is a copy of this object.

checkForSameDefinition

protected final boolean checkForSameDefinition(Axes other)

Checks to determine if another instance has the same definition as this instance and returns true if it does. Derived classes MUST override this method and check all new fields introduced by the derived class for definitional equivalence. It is NOT necessary to check base class fields because the base class will already have done that. When overriding this method, you should NOT call the base implementation because it will return false for all derived-class instances. Derived classes should check the type of other to preserve the symmetric nature of IEquatableDefinition.isSameDefinition(java.lang.Object).

Specified by:

checkForSameDefinition in class Axes

Parameters:

other - The other instance to compare to this one.

Returns:

true if the two objects are defined equivalently; otherwise false.

checkForSameDefinition

protected boolean checkForSameDefinition(AxesAlignedConstrained other)

Checks to determine if another instance has the same definition as this instance and returns true if it does. Derived classes MUST override this method and check all new fields introduced by the derived class for definitional equivalence. It is NOT necessary to check base class fields because the base class will already have done that. When overriding this method, you should NOT call the base implementation because it will return false for all derived-class instances. Derived classes should check the type of other to preserve the symmetric nature of IEquatableDefinition.isSameDefinition(java.lang.Object).

Parameters:

other - The other instance to compare to this one.

Returns:

true if the two objects are defined equivalently; otherwise false.

computeCurrentDefinitionHashCode

protected int computeCurrentDefinitionHashCode()

Computes a hash code based on the current properties of this object. Derived classes MUST override this method and compute a hash code that combines: a unique hash code seed, the base implementation result, and the hash codes of all new fields introduced by the derived class which are used in the AxesAlignedConstrained.checkForSameDefinition(agi.foundation.geometry.Axes) method.

Overrides:

computeCurrentDefinitionHashCode in class Axes

Returns:

The computed hash code.

enumerateDependencies

public void enumerateDependencies(DependencyEnumerator enumerator)

Enumerates the dependencies of this object by calling DependencyEnumerator#enumerate(T) for each object that this object directly depends upon. Derived classes which contain additional dependencies MUST override this method, call the base implementation, and enumerate dependencies introduced by the derived class.

Specified by:

enumerateDependencies in interface IEnumerateDependencies

Overrides:

enumerateDependencies in class DefinitionalObject

Parameters:

enumerator - The enumerator that is informed of the dependencies of this object.

getPrincipal

public final Vector getPrincipal()

Gets the principal direction vector with which the X-axis of this set of axes will be aligned.

setPrincipal

public final void setPrincipal(Vector value)

Sets the principal direction vector with which the X-axis of this set of axes will be aligned.

getReference

public final Vector getReference()

Gets the reference direction vector. The Z-axis of this set of axes will be constrained to minimize the angular separation from this vector.

setReference

public final void setReference(Vector value)

Sets the reference direction vector. The Z-axis of this set of axes will be constrained to minimize the angular separation from this vector.

getPrincipalAxis

@Nonnull
public final AxisIndicator getPrincipalAxis()

Gets the axis along which the Principal (get / set) vector is aligned.

setPrincipalAxis

public final void setPrincipalAxis(@Nonnull
                                   AxisIndicator value)

Sets the axis along which the Principal (get / set) vector is aligned.

getReferenceAxis

@Nonnull
public final AxisIndicator getReferenceAxis()

Gets the axis against which the Reference (get / set) vector is constrained.

setReferenceAxis

public final void setReferenceAxis(@Nonnull
                                   AxisIndicator value)

Sets the axis against which the Reference (get / set) vector is constrained.

getEvaluator

public AxesEvaluator getEvaluator(EvaluatorGroup group)

Gets an evaluator that can be used to find the transformation from Principal (get / set)'s Axes to a new Axes defined by the Principal (get / set) and Reference (get / set) vectors at a given JulianDate. The new axes will be represented by a Motion<UnitQuaternion, Cartesian> specifying the orientation of these Axes. Derivative information is provided if Principal (get / set) and Reference (get / set) provide their derivatives. Consider using the methods of GeometryTransformer instead of calling this method directly.

Specified by:

getEvaluator in class Axes

Parameters:

group - The group with which to associate the new evaluator. By grouping evaluators that are often evaluated at the same Julian dates, common computations can be performed only once for the entire group instead of multiple times for each evaluator.

Returns:

An evaluator for this Axes.

Throws:

ArgumentNullException - Thrown when group is null.

PropertyInvalidException - Thrown when Principal (get / set) or Reference (get / set) is null.

computeTransformation

@Nonnull
public static UnitQuaternion computeTransformation(@Nonnull
                                                             Cartesian principal,
                                                             @Nonnull
                                                             Cartesian reference)

Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.

Parameters:

principal - The principal direction vector with which the X-axis will be aligned.

reference - The reference direction vector. The Z-axis will be constrained to minimize the angular separation from this vector.

Returns:

The transformation to the aligned-constrained axes.

computeTransformation

@Nonnull
public static UnitQuaternion computeTransformation(@Nonnull
                                                             Cartesian principal,
                                                             @Nonnull
                                                             AxisIndicator principalAxis,
                                                             @Nonnull
                                                             Cartesian reference,
                                                             @Nonnull
                                                             AxisIndicator referenceAxis)

Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.

Parameters:

principal - The principal direction vector with which the principalAxis will be aligned.

principalAxis - The axis along which the principal vector is aligned.

reference - The reference direction vector. The referenceAxis will be constrained to minimize the angular separation from this vector.

referenceAxis - The axis against which the reference vector is constrained.

Returns:

The transformation to the aligned-constrained axes.

computeTransformation

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> computeTransformation(@Nonnull
                                                                                Motion1<Cartesian> principal,
                                                                                @Nonnull
                                                                                Motion1<Cartesian> reference,
                                                                                int order)

Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.

Parameters:

principal - The principal direction vector with which the X-axis will be aligned.

reference - The reference direction vector. The Z-axis will be constrained to minimize the angular separation from this vector.

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

Returns:

The transformation to the aligned-constrained axes.

computeTransformation

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> computeTransformation(@Nonnull
                                                                                Motion2<UnitCartesian,Cartesian> principal,
                                                                                @Nonnull
                                                                                Motion2<UnitCartesian,Cartesian> reference,
                                                                                int order)

Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.

Parameters:

principal - The principal direction vector with which the X-axis will be aligned.

reference - The reference direction vector. The Z-axis will be constrained to minimize the angular separation from this vector.

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

Returns:

The transformation to the aligned-constrained axes.

computeTransformation

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> computeTransformation(@Nonnull
                                                                                Motion1<Cartesian> principal,
                                                                                @Nonnull
                                                                                AxisIndicator principalAxis,
                                                                                @Nonnull
                                                                                Motion1<Cartesian> reference,
                                                                                @Nonnull
                                                                                AxisIndicator referenceAxis,
                                                                                int order)

Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.

Parameters:

principal - The principal direction vector with which the principalAxis will be aligned.

principalAxis - The axis along which the principal vector is aligned.

reference - The reference direction vector. The referenceAxis will be constrained to minimize the angular separation from this vector.

referenceAxis - The axis against which the reference vector is constrained.

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

Returns:

The transformation to the aligned-constrained axes.

computeTransformation

@Nonnull
public static Motion2<UnitQuaternion,Cartesian> computeTransformation(@Nonnull
                                                                                Motion2<UnitCartesian,Cartesian> principal,
                                                                                @Nonnull
                                                                                AxisIndicator principalAxis,
                                                                                @Nonnull
                                                                                Motion2<UnitCartesian,Cartesian> reference,
                                                                                @Nonnull
                                                                                AxisIndicator referenceAxis,
                                                                                int order)

Given a principal and reference vector expressed in the same set of axes, computes a transformation that will take a vector expressed in that set of axes and expresses it in the aligned-constrained axes.

Parameters:

principal - The principal direction vector with which the principalAxis will be aligned.

principalAxis - The axis along which the principal vector is aligned.

reference - The reference direction vector. The referenceAxis will be constrained to minimize the angular separation from this vector.

referenceAxis - The axis against which the reference vector is constrained.

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

Returns:

The transformation to the aligned-constrained axes.