public class Rotation3D extends Object implements IRotation3D
Modifier and Type | Field and Description |
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protected Hep3Matrix |
_matrix
The 3x3 rotation _matrix representing the state of this Rotation3D.
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Constructor and Description |
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Rotation3D()
Construct a Rotation3D with the identity _matrix.
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Rotation3D(Hep3Matrix matrix)
Construct a Rotation3D from a Hep3Matrix interface.
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Rotation3D(IRotation3D rotation)
Construct a copy from a Rotation3D.
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Modifier and Type | Method and Description |
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boolean |
equals(IRotation3D rotation)
Compare this IRotation3D with another.
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double |
getComponent(int row,
int col)
Get matrix component by row and column.
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Hep3Matrix |
getRotationMatrix()
The rotation in standard rotation matrix form.
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IRotation3D |
inverse()
Apply inverse transformation, returning
a new IRotation3D, not altering this matrix.
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void |
invert()
Apply inverse transformation in place.
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boolean |
isIdentity()
True if this IRotation3D is equivalent to the identity matrix.
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static Rotation3D |
multiply(IRotation3D rot1,
IRotation3D rot2) |
void |
multiplyBy(IRotation3D rotation)
Multiply this rotation in place with another IRotation3D,
modifying this IRotation3D in place.
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static IRotation3D |
passiveAxisRotation(double angle,
Hep3Vector axis) |
static IRotation3D |
passiveXRotation(double angle) |
static IRotation3D |
passiveYRotation(double angle) |
static IRotation3D |
passiveZRotation(double angle) |
void |
printOut(PrintStream ps)
Print out rotation
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void |
resetToIdentity()
Reset this IRotation3D to the identity matrix.
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void |
rotate(Hep3Vector coordinates)
Rotate a Hep3Vector in place
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void |
rotate(SymmetricMatrix matrix)
Rotate a SymmetricMatrix in place (e.g.
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Hep3Vector |
rotated(Hep3Vector coordinates)
Rotate a Hep3Vector
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SymmetricMatrix |
rotated(SymmetricMatrix matrix)
Rotate a SymmetricMatrix (e.g.
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void |
setRotationMatrix(Hep3Matrix matrix)
Set the rotation _matrix from a Hep3Matrix.
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String |
toString() |
protected Hep3Matrix _matrix
public Rotation3D()
public Rotation3D(Hep3Matrix matrix)
_matrix
- public Rotation3D(IRotation3D rotation)
_matrix
- public void setRotationMatrix(Hep3Matrix matrix)
setRotationMatrix
in interface IRotation3D
public void invert()
IRotation3D
invert
in interface IRotation3D
public IRotation3D inverse()
IRotation3D
inverse
in interface IRotation3D
public void printOut(PrintStream ps)
IRotation3D
printOut
in interface IRotation3D
public void resetToIdentity()
IRotation3D
resetToIdentity
in interface IRotation3D
public Hep3Matrix getRotationMatrix()
IRotation3D
getRotationMatrix
in interface IRotation3D
public double getComponent(int row, int col)
IRotation3D
getComponent
in interface IRotation3D
public void multiplyBy(IRotation3D rotation)
IRotation3D
multiplyBy
in interface IRotation3D
public void rotate(Hep3Vector coordinates)
IRotation3D
rotate
in interface IRotation3D
public Hep3Vector rotated(Hep3Vector coordinates)
IRotation3D
rotated
in interface IRotation3D
public void rotate(SymmetricMatrix matrix)
IRotation3D
rotate
in interface IRotation3D
public SymmetricMatrix rotated(SymmetricMatrix matrix)
IRotation3D
rotated
in interface IRotation3D
public static Rotation3D multiply(IRotation3D rot1, IRotation3D rot2)
public boolean equals(IRotation3D rotation)
IRotation3D
equals
in interface IRotation3D
public boolean isIdentity()
IRotation3D
isIdentity
in interface IRotation3D
public static IRotation3D passiveXRotation(double angle)
public static IRotation3D passiveYRotation(double angle)
public static IRotation3D passiveZRotation(double angle)
public static IRotation3D passiveAxisRotation(double angle, Hep3Vector axis)
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