agi.foundation.coordinates

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

Class UnitCartesian

java.lang.Object

agi.foundation.coordinates.UnitCartesian

All Implemented Interfaces:

IEquatable<UnitCartesian>, ImmutableValueType, ValueType, IEquatableEpsilon<UnitCartesian>

public final class UnitCartesian
extends Object
implements IEquatable<UnitCartesian>, IEquatableEpsilon<UnitCartesian>, ImmutableValueType

A set of rectilinear 3-dimensional coordinates with unit magnitude.

The normalization of the cartesian components is accomplished in the usual way. It should be noted that this does not guarantee a result whose magnitude will be 1.0 in cases where an individual component underflows upon squaring.

The corresponding 2-dimensional coordinates are UnitRectangular coordinates.

Constructor Summary

Constructors

Constructor and Description
UnitCartesian() Initializes a new instance.
UnitCartesian(Cartesian coordinates) Initializes a set of UnitCartesian coordinates from the provided set of Cartesian coordinates.
UnitCartesian(Cartesian coordinates, double[] magnitude) Initializes a set of UnitCartesian coordinates from the provided set of Cartesian coordinates.
UnitCartesian(double[] elements) Initializes a set of UnitCartesian coordinates from the first 3 consecutive elements in the provided array.
UnitCartesian(double[] elements, int startIndex) Initializes a set of UnitCartesian coordinates from 3 consecutive elements in the provided array.
UnitCartesian(double clock, double cone) Initializes a set of UnitCartesian coordinates from the provided spherical coordinates.
UnitCartesian(double x, double y, double z) Initializes a set of UnitCartesian coordinates from the provided values.
UnitCartesian(double x, double y, double z, double[] magnitude) Initializes a set of UnitCartesian coordinates from the provided values.
UnitCartesian(UnitRectangular unit) Initializes a set of UnitCartesian coordinates from the provided set of UnitRectangular coordinates.
UnitCartesian(UnitSpherical unitSpherical) Initializes a set of UnitCartesian coordinates from the provided set of UnitSpherical coordinates.

Method Summary

Modifier and Type	Method and Description
Cartesian	add(Cartesian other) Adds the specified set of Cartesian coordinates to this instance.
static Cartesian	add(Cartesian left, UnitCartesian right) Adds a specified set of UnitCartesian coordinates to a specified set of Cartesian coordinates.
Cartesian	add(UnitCartesian other) Adds the specified set of UnitCartesian coordinates to this instance.
static Cartesian	add(UnitCartesian left, Cartesian right) Adds a specified set of Cartesian coordinates to a specified set of UnitCartesian coordinates.
static Cartesian	add(UnitCartesian left, UnitCartesian right) Adds a specified set of UnitCartesian coordinates to another specified set of UnitCartesian coordinates.
double	angleBetween(UnitCartesian other) Determines the angle in radians between the specified set of UnitCartesian coordinates and this instance.
static Motion2<UnitCartesian,Cartesian>	convertMotion(Motion1<Cartesian> motion, int order) Converts the motion given in terms of a set of Cartesian coordinates to motion of the corresponding set of UnitCartesian coordinates.
Cartesian	cross(Cartesian other) Forms the cross product of the specified set of Cartesian coordinates with this instance.
Cartesian	cross(UnitCartesian other) Forms the cross product of the specified set of UnitCartesian coordinates with this instance.
static Motion1<Double>	dihedralAngle(Motion2<UnitCartesian,Cartesian> motFrom, Motion2<UnitCartesian,Cartesian> motTo, Motion2<UnitCartesian,Cartesian> motAxis, int order) Calculates the scalar dihedral angle (and derivatives) of the three given values with Cartesian derivative information.
static double	dihedralAngle(UnitCartesian cartFrom, UnitCartesian cartTo, UnitCartesian cartAxis) Calculates the scalar dihedral angle of the three given values.
Cartesian	divide(double scalar) Divides this instance by a scalar.
static Cartesian	divide(UnitCartesian left, double right) Divides a specified set of UnitCartesian coordinates by a scalar.
double	dot(Cartesian other) Forms the dot product of the specified set of Cartesian coordinates with this instance.
double	dot(UnitCartesian other) Forms the dot product of the specified set of UnitCartesian coordinates with this instance.
boolean	equals(Object obj) Indicates whether another object is exactly equal to this instance.
static boolean	equals(UnitCartesian left, UnitCartesian right) Returns true if the two instances are exactly equal.
boolean	equalsEpsilon(UnitCartesian other, double epsilon) Indicates whether each coordinate value of another instance of this type is within the required tolerance of the corresponding coordinate value of this instance.
boolean	equalsType(UnitCartesian other) Indicates whether another instance of this type is exactly equal to this instance.
double	get(int index) Gets the value of the specified element with index of 0, 1, and 2 corresponding to the coordinates X (get), Y (get), and Z (get).
boolean	getIsUndefined() Gets a value indicating whether any of the coordinates for this instance have the value Double.NaN.
int	getLength() Gets the number of elements in this set of coordinates.
UnitCartesian	getMostOrthogonalAxis() Gets the axis which is most orthogonal to this instance.
UnitCartesian	getMostParallelAxis() Gets the axis which is most parallel to this instance.
static UnitCartesian	getUndefined() Gets a set of UnitCartesian coordinates with values of Double.NaN.
static UnitCartesian	getUnitX() Gets a set of UnitCartesian coordinates representing the x-axis.
static UnitCartesian	getUnitY() Gets a set of UnitCartesian coordinates representing the y-axis.
static UnitCartesian	getUnitZ() Gets a set of UnitCartesian coordinates representing the z-axis.
double	getX() Gets the linear coordinate along the positive x-axis.
double	getY() Gets the linear coordinate along the positive y-axis.
double	getZ() Gets the linear 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.
UnitCartesian	invert() Inverts this instance.
Cartesian	multiply(double scalar) Multiplies this instance by a scalar.
static Cartesian	multiply(double left, UnitCartesian right) Multiplies a scalar by a specified set of UnitCartesian coordinates.
static Cartesian	multiply(UnitCartesian left, double right) Multiplies a specified set of UnitCartesian coordinates by a scalar.
static UnitCartesian	negate(UnitCartesian coordinates) Negates the specified UnitCartesian, yielding a new UnitCartesian.
static boolean	notEquals(UnitCartesian left, UnitCartesian right) Returns true if the two instances are not exactly equal.
UnitCartesian	rotate(ElementaryRotation rotation) Produces a set of UnitCartesian coordinates representing this instance, which results from rotating the original axes used to represent this instance by the provided ElementaryRotation rotation.
UnitCartesian	rotate(Matrix3By3 rotation) Produces a set of UnitCartesian coordinates representing this instance which results from rotating the original axes used to represent this instance by the provided Matrix3By3 rotation.
UnitCartesian	rotate(UnitQuaternion rotation) Produces a set of UnitCartesian coordinates representing this instance which results from rotating the original axes used to represent this instance by the provided UnitQuaternion rotation.
Cartesian	subtract(Cartesian other) Subtracts the specified set of Cartesian coordinates from this instance.
static Cartesian	subtract(Cartesian left, UnitCartesian right) Subtracts a specified set of UnitCartesian coordinates from a specified set of Cartesian coordinates.
Cartesian	subtract(UnitCartesian other) Subtracts the specified set of UnitCartesian coordinates from this instance.
static Cartesian	subtract(UnitCartesian left, Cartesian right) Subtracts a specified set of Cartesian coordinates from a specified set of UnitCartesian coordinates.
static Cartesian	subtract(UnitCartesian left, UnitCartesian right) Subtracts a specified set of UnitCartesian coordinates from another specified set of UnitCartesian coordinates.
String	toString() Returns the string representation of the value of this instance.

Methods inherited from class java.lang.Object

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

Constructor Detail

UnitCartesian

public UnitCartesian()

Initializes a new instance.

UnitCartesian

public UnitCartesian(double x,
                     double y,
                     double z)

Initializes a set of UnitCartesian coordinates from the provided values.

Parameters:

x - The linear coordinate along the positive x-axis.

y - The linear coordinate along the positive y-axis.

z - The linear coordinate along the positive z-axis.

Throws:

ArithmeticException - The magnitude of the provided coordinates must not be zero.

NotFiniteNumberException - The magnitude of the provided coordinates must not be infinite.

UnitCartesian

public UnitCartesian(double x,
                     double y,
                     double z,
                     @Nonnull
                     double[] magnitude)

Initializes a set of UnitCartesian coordinates from the provided values.

Parameters:

x - The linear coordinate along the positive x-axis.

y - The linear coordinate along the positive y-axis.

z - The linear coordinate along the positive z-axis.

magnitude - On input, an array with one element. On return, the array is populated with the magnitude of the original set of coordinates.

Throws:

ArithmeticException - The magnitude of the provided coordinates must not be zero.

NotFiniteNumberException - The magnitude of the provided coordinates must not be infinite.

UnitCartesian

public UnitCartesian(@Nonnull
                     Cartesian coordinates)

Initializes a set of UnitCartesian coordinates from the provided set of Cartesian coordinates.

Parameters:

coordinates - The set of Cartesian coordinates.

Throws:

ArithmeticException - The magnitude of the provided coordinates must not be zero.

NotFiniteNumberException - The magnitude of the provided coordinates must not be infinite.

UnitCartesian

public UnitCartesian(@Nonnull
                     Cartesian coordinates,
                     @Nonnull
                     double[] magnitude)

Initializes a set of UnitCartesian coordinates from the provided set of Cartesian coordinates.

Parameters:

coordinates - The set of Cartesian coordinates.

magnitude - On input, an array with one element. On return, the array is populated with the magnitude of the original set of coordinates.

Throws:

ArithmeticException - The magnitude of the provided coordinates must not be zero.

NotFiniteNumberException - The magnitude of the provided coordinates must not be infinite.

UnitCartesian

public UnitCartesian(double clock,
                     double cone)

Initializes a set of UnitCartesian coordinates from the provided spherical coordinates.

Parameters:

clock - The angular coordinate lying in the xy-plane measured from the positive x-axis and toward the positive y-axis.

cone - The angular coordinate measured from the positive z-axis and toward the negative z-axis.

UnitCartesian

public UnitCartesian(@Nonnull
                     UnitRectangular unit)

Initializes a set of UnitCartesian coordinates from the provided set of UnitRectangular coordinates.

Parameters:

unit - The set of UnitRectangular coordinates.

UnitCartesian

public UnitCartesian(@Nonnull
                     UnitSpherical unitSpherical)

Initializes a set of UnitCartesian coordinates from the provided set of UnitSpherical coordinates.

Parameters:

unitSpherical - The set of UnitSpherical coordinates.

UnitCartesian

public UnitCartesian(@Nonnull
                     double[] elements)

Initializes a set of UnitCartesian coordinates from the first 3 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 3 elements.

ArithmeticException - The magnitude of the provided coordinates must not be zero.

NotFiniteNumberException - The magnitude of the provided coordinates must not be infinite.

UnitCartesian

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

Initializes a set of UnitCartesian coordinates from 3 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 elements is null.

ArgumentOutOfRangeException - Thrown when an object of this type is constructed from an array with less than 3 elements.

ArithmeticException - Thrown when the magnitude of the provided coordinates are zero.

NotFiniteNumberException - Thrown when the magnitude of the provided coordinates is infinite.

Method Detail

getUndefined

@Nonnull
public static UnitCartesian getUndefined()

Gets a set of UnitCartesian coordinates with values of Double.NaN.

Use IsUndefined (get) to test whether a UnitCartesian instance is undefined since it will return true if any of the coordinate values are Double.NaN.

getUnitX

@Nonnull
public static UnitCartesian getUnitX()

Gets a set of UnitCartesian coordinates representing the x-axis.

getUnitY

@Nonnull
public static UnitCartesian getUnitY()

Gets a set of UnitCartesian coordinates representing the y-axis.

getUnitZ

@Nonnull
public static UnitCartesian getUnitZ()

Gets a set of UnitCartesian coordinates representing the z-axis.

convertMotion

@Nonnull
public static Motion2<UnitCartesian,Cartesian> convertMotion(@Nonnull
                                                                       Motion1<Cartesian> motion,
                                                                       int order)

Converts the motion given in terms of a set of Cartesian coordinates to motion of the corresponding set of UnitCartesian coordinates.

Parameters:

motion - The Cartesian motion.

order - The order of the highest derivative to convert.

Returns:

The motion of the unit Cartesian.

getX

public final double getX()

Gets the linear coordinate along the positive x-axis.

getY

public final double getY()

Gets the linear coordinate along the positive y-axis.

getZ

public final double getZ()

Gets the linear coordinate along the positive z-axis.

invert

@Nonnull
public final UnitCartesian invert()

Inverts this instance.

Returns:

A set of UnitCartesian coordinates that represents the inverse of this instance.

multiply

@Nonnull
public final Cartesian multiply(double scalar)

Multiplies this instance by a scalar.

Parameters:

scalar - The multiplier, or value by which to multiply this instance.

Returns:

A set of Cartesian coordinates that represents the result of the multiplication.

divide

@Nonnull
public final Cartesian divide(double scalar)

Divides this instance by a scalar.

Parameters:

scalar - The divisor, or value by which to divide this instance.

Returns:

A set of Cartesian coordinates that represents the result of the division.

add

@Nonnull
public final Cartesian add(@Nonnull
                                     Cartesian other)

Adds the specified set of Cartesian coordinates to this instance.

Parameters:

other - The addend, or value which is to be added to this instance.

Returns:

A set of Cartesian coordinates that represents the result of the addition.

add

@Nonnull
public final Cartesian add(@Nonnull
                                     UnitCartesian other)

Adds the specified set of UnitCartesian coordinates to this instance.

Parameters:

other - The addend, or value which is to be added to this instance.

Returns:

A set of Cartesian coordinates that represents the result of the addition.

subtract

@Nonnull
public final Cartesian subtract(@Nonnull
                                          Cartesian other)

Subtracts the specified set of Cartesian coordinates from this instance.

Parameters:

other - The subtrahend, or value which is to be subtracted from this instance.

Returns:

A set of Cartesian coordinates that represents the result of the subtraction.

subtract

@Nonnull
public final Cartesian subtract(@Nonnull
                                          UnitCartesian other)

Subtracts the specified set of UnitCartesian coordinates from this instance.

Parameters:

other - The subtrahend, or value which is to be subtracted from this instance.

Returns:

A set of Cartesian coordinates that represents the result of the subtraction.

cross

@Nonnull
public final Cartesian cross(@Nonnull
                                       Cartesian other)

Forms the cross product of the specified set of Cartesian coordinates with this instance.

Parameters:

other - The set of Cartesian coordinates to cross with this instance.

Returns:

A set of Cartesian coordinates that represents the result of the product.

cross

@Nonnull
public final Cartesian cross(@Nonnull
                                       UnitCartesian other)

Forms the cross product of the specified set of UnitCartesian coordinates with this instance.

Parameters:

other - The set of Cartesian coordinates to cross with this instance.

Returns:

A set of Cartesian coordinates that represents the result of the product.

dot

public final double dot(@Nonnull
                        Cartesian other)

Forms the dot product of the specified set of Cartesian coordinates with this instance.

Parameters:

other - The set of Cartesian coordinates to dot with this instance.

Returns:

A double that represents the result of the product.

dot

public final double dot(@Nonnull
                        UnitCartesian other)

Forms the dot product of the specified set of UnitCartesian coordinates with this instance.

Parameters:

other - The set of Cartesian coordinates to dot with this instance.

Returns:

A double that represents the result of the product.

multiply

@Nonnull
public static Cartesian multiply(@Nonnull
                                           UnitCartesian left,
                                           double right)

Multiplies a specified set of UnitCartesian coordinates by a scalar.

Parameters:

left - The multiplicand, or value which is to be multiplied by right.

right - The multiplier, or value which is to multiply left.

Returns:

A set of Cartesian coordinates that represents the result of the multiplication.

multiply

@Nonnull
public static Cartesian multiply(double left,
                                           @Nonnull
                                           UnitCartesian right)

Multiplies a scalar by a specified set of UnitCartesian coordinates.

Parameters:

left - The multiplicand, or value to be multiplied by right.

right - The multiplier, or value which by which left is to be multiplied.

Returns:

A set of Cartesian coordinates that represents the result of the multiplication.

divide

@Nonnull
public static Cartesian divide(@Nonnull
                                         UnitCartesian left,
                                         double right)

Divides a specified set of UnitCartesian coordinates by a scalar.

Parameters:

left - The dividend, or value to be divided by right.

right - The divisor, or value by which left is to be divided.

Returns:

A set of Cartesian coordinates that represents the result of the division.

add

@Nonnull
public static Cartesian add(@Nonnull
                                      UnitCartesian left,
                                      @Nonnull
                                      UnitCartesian right)

Adds a specified set of UnitCartesian coordinates to another specified set of UnitCartesian coordinates.

Parameters:

left - The augend, or value to which right is to be added.

right - The addend, or value which is to be added to left.

Returns:

A set of Cartesian coordinates that represents the result of the addition.

add

@Nonnull
public static Cartesian add(@Nonnull
                                      UnitCartesian left,
                                      @Nonnull
                                      Cartesian right)

Adds a specified set of Cartesian coordinates to a specified set of UnitCartesian coordinates.

Parameters:

left - The augend, or value to which right is to be added.

right - The addend, or value which is to be added to left.

Returns:

A set of Cartesian coordinates that represents the result of the addition.

add

@Nonnull
public static Cartesian add(@Nonnull
                                      Cartesian left,
                                      @Nonnull
                                      UnitCartesian right)

Adds a specified set of UnitCartesian coordinates to a specified set of Cartesian coordinates.

Parameters:

left - The augend, or value to which right is to be added.

right - The addend, or value which is to be added to left.

Returns:

A set of Cartesian coordinates that represents the result of the addition.

subtract

@Nonnull
public static Cartesian subtract(@Nonnull
                                           UnitCartesian left,
                                           @Nonnull
                                           UnitCartesian right)

Subtracts a specified set of UnitCartesian coordinates from another specified set of UnitCartesian coordinates.

Parameters:

left - The minuend, or value from which right is to be subtracted.

right - The subtrahend, or value which is to be subtracted from left.

Returns:

A set of Cartesian coordinates that represents the result of the subtraction.

subtract

@Nonnull
public static Cartesian subtract(@Nonnull
                                           UnitCartesian left,
                                           @Nonnull
                                           Cartesian right)

Subtracts a specified set of Cartesian coordinates from a specified set of UnitCartesian coordinates.

Parameters:

left - The minuend, or value from which right is to be subtracted.

right - The subtrahend, or value which is to be subtracted from left.

Returns:

A set of Cartesian coordinates that represents the result of the subtraction.

subtract

@Nonnull
public static Cartesian subtract(@Nonnull
                                           Cartesian left,
                                           @Nonnull
                                           UnitCartesian right)

Subtracts a specified set of UnitCartesian coordinates from a specified set of Cartesian coordinates.

Parameters:

left - The minuend, or value from which right is to be subtracted.

right - The subtrahend, or value which is to be subtracted from left.

Returns:

A set of Cartesian coordinates that represents the result of the subtraction.

negate

@Nonnull
public static UnitCartesian negate(@Nonnull
                                             UnitCartesian coordinates)

Negates the specified UnitCartesian, yielding a new UnitCartesian.

Parameters:

coordinates - The set of coordinates.

Returns:

The result of negating the elements of the original UnitCartesian.

rotate

@Nonnull
public final UnitCartesian rotate(@Nonnull
                                            ElementaryRotation rotation)

Produces a set of UnitCartesian coordinates representing this instance, which results from rotating the original axes used to represent this instance by the provided ElementaryRotation rotation.

This type of rotation is sometimes referred to as an "alias rotation".

Parameters:

rotation - The ElementaryRotation.

Returns:

A set of UnitCartesian coordinates which is the result of the rotation.

Throws:

UnsupportedCaseException - Thrown if the Axis (get) property of rotation is not AxisIndicator.FIRST, AxisIndicator.SECOND, or AxisIndicator.THIRD.

rotate

@Nonnull
public final UnitCartesian rotate(@Nonnull
                                            Matrix3By3 rotation)

Produces a set of UnitCartesian coordinates representing this instance which results from rotating the original axes used to represent this instance by the provided Matrix3By3 rotation.

This type of rotation is sometimes referred to as an "alias rotation".

Parameters:

rotation - The Matrix3By3 rotation.

Returns:

A set of UnitCartesian coordinates which is the result of the rotation.

rotate

@Nonnull
public final UnitCartesian rotate(@Nonnull
                                            UnitQuaternion rotation)

Produces a set of UnitCartesian coordinates representing this instance which results from rotating the original axes used to represent this instance by the provided UnitQuaternion rotation.

This type of rotation is sometimes referred to as an "alias rotation".

Parameters:

rotation - The UnitQuaternion rotation.

Returns:

A set of UnitCartesian coordinates which is the result of the rotation.

getMostOrthogonalAxis

@Nonnull
public final UnitCartesian getMostOrthogonalAxis()

Gets the axis which is most orthogonal to this instance.

getMostParallelAxis

@Nonnull
public final UnitCartesian getMostParallelAxis()

Gets the axis which is most parallel to this instance.

getIsUndefined

public final boolean getIsUndefined()

Gets a value indicating whether any of the coordinates for this instance have the value Double.NaN.

getLength

public final int getLength()

Gets the number of elements in this set of coordinates.

get

public final double get(int index)

Gets the value of the specified element with index of 0, 1, and 2 corresponding to the coordinates X (get), Y (get), and Z (get).

Parameters:

index - The index to retrieve.

Returns:

The coordinate associated with the specified index.

Throws:

ArgumentOutOfRangeException - Thrown when index is less than 0 or greater than or equal to Length (get).

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
                                UnitCartesian other)

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

Specified by:

equalsType in interface IEquatable<UnitCartesian>

Parameters:

other - The instance to compare to this instance.

Returns:

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

equalsEpsilon

public final boolean equalsEpsilon(@Nonnull
                                   UnitCartesian other,
                                   double epsilon)

Indicates whether each coordinate value of another instance of this type is within the required tolerance of the corresponding coordinate value of this instance.

Specified by:

equalsEpsilon in interface IEquatableEpsilon<UnitCartesian>

Parameters:

other - The set of UnitCartesian coordinates to compare to this instance.

epsilon - The limit at which the absolute differences between the coordinate values will not be considered equal.

Returns:

true if the absolute differences are less than or equal to epsilon; 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)

toString

public String toString()

Returns the string representation of the value of this instance.

Overrides:

toString in class Object

Returns:

A string that represents the value of this instance in the form "X, Y, Z".

equals

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

angleBetween

public final double angleBetween(@Nonnull
                                 UnitCartesian other)

Determines the angle in radians between the specified set of UnitCartesian coordinates and this instance.

Parameters:

other - The set of UnitCartesian coordinates to evaluate.

Returns:

A double that represents the angle in radians between the two instances.

dihedralAngle

public static double dihedralAngle(@Nonnull
                                   UnitCartesian cartFrom,
                                   @Nonnull
                                   UnitCartesian cartTo,
                                   @Nonnull
                                   UnitCartesian cartAxis)

Calculates the scalar dihedral angle of the three given values.

Parameters:

cartFrom - Cartesian to measure the angle from.

cartTo - Cartesian to measure the angle to.

cartAxis - The axis about which to measure the angle.

Returns:

Returns a double representing the ScalarDihedralAngle of the three given values.

dihedralAngle

@Nonnull
public static Motion1<Double> dihedralAngle(@Nonnull
                                                      Motion2<UnitCartesian,Cartesian> motFrom,
                                                      @Nonnull
                                                      Motion2<UnitCartesian,Cartesian> motTo,
                                                      @Nonnull
                                                      Motion2<UnitCartesian,Cartesian> motAxis,
                                                      int order)

Calculates the scalar dihedral angle (and derivatives) of the three given values with Cartesian derivative information.

Parameters:

motFrom - Cartesian (with possible derivative data) to measure the angle from.

motTo - Cartesian (with possible derivative data) to measure the angle to.

motAxis - The axis about which to measure the angle (with possible derivative data).

order - The order of the desired response, from 0 to 2.

Returns:

Returns a Motion<double> representing the ScalarDihedralAngle of the three given values, and (optionally) its 1st and 2nd derivatives.