- java.lang.Object
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- spice.basic.RotationAndAV
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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)
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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
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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.
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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.
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Field Detail
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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
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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
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rotation
private Matrix33 rotation
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angvel
private Vector3 angvel
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Constructor Detail
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RotationAndAV
public RotationAndAV(RotationAndAV r)
Copy constructor.This constructor creates a deep copy.- Parameters:
r
- RotationAndAV
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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
- Matrix33av
- Vector3- Throws:
SpiceException
- exception
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RotationAndAV
public RotationAndAV(Matrix66 xform) throws SpiceException
Create a rotation and angular velocity from a state transformation matrix.- Parameters:
xform
- Matrix66- Throws:
SpiceException
- exception
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Method Detail
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getRotation
public Matrix33 getRotation()
Get the rotation matrix from this instance.- Returns:
- Matrix33
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getAngularVelocity
public Vector3 getAngularVelocity()
Get the angular velocity from this instance.- Returns:
- Vector3
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toMatrix
public Matrix66 toMatrix() throws SpiceException
Convert this instance to a state transformation matrix.- Returns:
- Matrix66
- Throws:
SpiceException
- exception
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