maspack.matrix

Enum RotationRep

java.lang.Object

java.lang.Enum<RotationRep>

maspack.matrix.RotationRep

All Implemented Interfaces:

java.io.Serializable, java.lang.Comparable<RotationRep>

public enum RotationRep
extends java.lang.Enum<RotationRep>

Describes some common ways to represent 3D rotations.

Enum Constant Summary

Enum Constants

Enum Constant and Description
AXIS_ANGLE Axis-angle representation (u, ang), with the angle given in radians.
AXIS_ANGLE_DEG Axis-angle representation (u, ang), with the angle given in radians.
QUATERNION Unit quaternion.
XYZ Successive rotations, in radians, about the x-y-z axes.
XYZ_DEG Successive rotations, in degrees, about the x-y-z axes.
ZYX Successive rotations, in radians, about the z-y-x axes.
ZYX_DEG Successive rotations, in degress, about the z-y-x axes.

Method Summary

Modifier and Type	Method and Description
static double	canonicalAngle(double ang) Find the canocical representation of an angle ang, such that it is in the range (-PI, PI].
java.lang.String[]	getFieldNames() Returns appropriate names for the numeric values of this RotationRep.
static double	nearestAngle(double ang, double ref) Given an angle ang, find an equivalent angle that is within +/- PI of a given reference angle ref.
int	size() Queries the number of doubles required for this RotationRep.
boolean	usesDegrees() Queries whethar this RotationRep represents angles in degrees.
static RotationRep	valueOf(java.lang.String name) Returns the enum constant of this type with the specified name.
static RotationRep[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

compareTo, equals, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

ZYX

public static final RotationRep ZYX

Successive rotations, in radians, about the z-y-x axes.

ZYX_DEG

public static final RotationRep ZYX_DEG

Successive rotations, in degress, about the z-y-x axes.

XYZ

public static final RotationRep XYZ

Successive rotations, in radians, about the x-y-z axes.

XYZ_DEG

public static final RotationRep XYZ_DEG

Successive rotations, in degrees, about the x-y-z axes.

AXIS_ANGLE

public static final RotationRep AXIS_ANGLE

Axis-angle representation (u, ang), with the angle given in radians. The axis u does not need to be normalized.

AXIS_ANGLE_DEG

public static final RotationRep AXIS_ANGLE_DEG

Axis-angle representation (u, ang), with the angle given in radians. The axis u does not need to be normalized.

QUATERNION

public static final RotationRep QUATERNION

Unit quaternion.

Method Detail

values

public static RotationRep[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (RotationRep c : RotationRep.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static RotationRep valueOf(java.lang.String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

java.lang.IllegalArgumentException - if this enum type has no constant with the specified name

java.lang.NullPointerException - if the argument is null

size

public int size()

Queries the number of doubles required for this RotationRep.

Returns:

numerical size of this RotationRep

usesDegrees

public boolean usesDegrees()

Queries whethar this RotationRep represents angles in degrees.

Returns:

true if angles are represented in degrees

getFieldNames

public java.lang.String[] getFieldNames()

Returns appropriate names for the numeric values of this RotationRep.

Returns:

names for the numeric fields

nearestAngle

public static final double nearestAngle(double ang,
                                        double ref)

Given an angle ang, find an equivalent angle that is within +/- PI of a given reference angle ref.

Parameters:

ang - initial angle (radians)

ref - reference angle (radians)

Returns:

angle equivalent to ang within +/- PI of ref.

canonicalAngle

public static final double canonicalAngle(double ang)

Find the canocical representation of an angle ang, such that it is in the range (-PI, PI].

Parameters:

ang - initial angle (radians)

Returns:

canonocal representation of ang.