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java.lang.Objectorg.scilab.forge.scirenderer.tranformations.Rotation
public class Rotation
This class represent a Rotation. The data are stored as an unitary quaternion [a; b; c; d]. A rotation of an angle alpha along the vector [x; y; z] is stored thus : a = cos (alpha / 2) b = sin (alpha / 2) * nx c = sin (alpha / 2) * ny d = sin (alpha / 2) * nz Where [nx; ny; nz] is [x; y; z] / norm([x; y; z]).
Constructor Summary | |
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Rotation()
Default constructor. |
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Rotation(double[] v)
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Rotation(double alpha,
Vector3d v)
The created object represent a rotation of an angle of 'alpha' radians along the vector 'v'. |
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Rotation(double alpha,
Vector3f v)
The created object represent a rotation of an angle of 'alpha' radians along the vector 'v'. |
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Rotation(float[] v)
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Rotation(Rotation r)
Copy constructor. |
Method Summary | |
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Vector3d |
conjugate(Vector3d v)
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Vector3d |
conjugateInverse(Vector3d v)
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boolean |
equals(Rotation r2)
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double[] |
getData()
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float[] |
getDataAsFloatArray()
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Rotation |
getInverse()
Return the inverse rotation. |
double[] |
getRotationMatrix()
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double[] |
getUnRotateMatrix()
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Vector3d |
getVectorY()
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int |
hashCode()
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boolean |
isIdentity()
Return true if this object represents an identity transformation. |
Rotation |
multiply(Rotation q)
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Rotation |
power(double p)
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Rotation |
times(Rotation q)
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java.lang.String |
toString()
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Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, notify, notifyAll, wait, wait, wait |
Constructor Detail |
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public Rotation()
public Rotation(Rotation r)
r
- the given rotation.public Rotation(double alpha, Vector3d v)
alpha
- the rotation angle in radians.v
- the vector carrying the rotation.public Rotation(double alpha, Vector3f v)
alpha
- the rotation angle in radians.v
- the vector carrying the rotation.public Rotation(float[] v)
public Rotation(double[] v)
Method Detail |
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public Rotation getInverse()
public boolean isIdentity()
public double[] getRotationMatrix()
public double[] getUnRotateMatrix()
public Rotation multiply(Rotation q)
public Rotation times(Rotation q)
public Vector3d conjugate(Vector3d v)
public Vector3d conjugateInverse(Vector3d v)
public java.lang.String toString()
toString
in class java.lang.Object
public Vector3d getVectorY()
public Rotation power(double p)
public double[] getData()
public float[] getDataAsFloatArray()
public int hashCode()
hashCode
in class java.lang.Object
public boolean equals(Rotation r2)
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