Module JNISpice
Package spice.basic

Class RotationAndAV


  • public class RotationAndAV
    extends java.lang.Object
    Class RotationAndAV packages combinations of rotation matrices and angular velocity vectors that correspond to state transformation matrices.

    Version 1.0.0 15-DEC-2009 (NJB)

    • Field Summary

      Fields 
      Modifier and Type Field Description
      private Vector3 angvel  
      static double DET_TOL
      DET_TOL is the maximum allowed deviation from 1 of the determinant of an input rotation matrix.
      static double NORM_TOL
      NORM_TOL is the maximum allowed deviation from unit length of any column of an input rotation matrix.
      private Matrix33 rotation  
    • Constructor Summary

      Constructors 
      Constructor Description
      RotationAndAV​(Matrix33 r, Vector3 av)
      Create a rotation and angular velocity from a rotation matrix and an angular velocity vector.The vector has units of radians/sec.
      RotationAndAV​(Matrix66 xform)
      Create a rotation and angular velocity from a state transformation matrix.
      RotationAndAV​(RotationAndAV r)
      Copy constructor.This constructor creates a deep copy.
    • Method Summary

      Modifier and Type Method Description
      Vector3 getAngularVelocity()
      Get the angular velocity from this instance.
      Matrix33 getRotation()
      Get the rotation matrix from this instance.
      Matrix66 toMatrix()
      Convert this instance to a state transformation matrix.
      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    • Field Detail

      • NORM_TOL

        public static final double NORM_TOL
        NORM_TOL is the maximum allowed deviation from unit length of any column of an input rotation matrix.
        See Also:
        Constant Field Values
      • DET_TOL

        public static final double DET_TOL
        DET_TOL is the maximum allowed deviation from 1 of the determinant of an input rotation matrix.
        See Also:
        Constant Field Values
    • Constructor Detail

      • RotationAndAV

        public RotationAndAV​(RotationAndAV r)
        Copy constructor.This constructor creates a deep copy.
        Parameters:
        r - RotationAndAV
      • RotationAndAV

        public RotationAndAV​(Matrix33 r,
                             Vector3 av)
                      throws SpiceException
        Create a rotation and angular velocity from a rotation matrix and an angular velocity vector.The vector has units of radians/sec.
        Parameters:
        r - Matrix33
        av - Vector3
        Throws:
        SpiceException - exception
      • RotationAndAV

        public RotationAndAV​(Matrix66 xform)
                      throws SpiceException
        Create a rotation and angular velocity from a state transformation matrix.
        Parameters:
        xform - Matrix66
        Throws:
        SpiceException - exception
    • Method Detail

      • getRotation

        public Matrix33 getRotation()
        Get the rotation matrix from this instance.
        Returns:
        Matrix33
      • getAngularVelocity

        public Vector3 getAngularVelocity()
        Get the angular velocity from this instance.
        Returns:
        Vector3