Module JNISpice
Package spice.basic

Class EulerAngles


  • public class EulerAngles
    extends java.lang.Object
    Class EulerAngles represents Euler angle sequences.

    Version 1.0.0 22-DEC-2009 (NJB)

    • Field Summary

      Fields 
      Modifier and Type Field Description
      (package private) double[] angles  
      (package private) int[] axes  
      private static java.lang.String[] indexNames  
    • Constructor Summary

      Constructors 
      Constructor Description
      EulerAngles​(double[] angles, int[] axes)
      Construct an Euler angle sequence from an array of three angles and an array of three axis indices.
      EulerAngles​(double leftAngle, double centerAngle, double rightAngle, int leftAxis, int centerAxis, int rightAxis)
      Construct an Euler angle sequence from three angles and three axis indices.
      EulerAngles​(double leftAngle, double centerAngle, double rightAngle, AngularUnits units, int leftAxis, int centerAxis, int rightAxis)
      Construct an Euler angle sequence from three angles having specified units and three axis indices.
      EulerAngles​(EulerAngles eul)
      Copy constructor.
      EulerAngles​(Matrix33 m, int[] axes)
      Construct an Euler angle sequence from a rotation matrix and an array of three axis indices.
    • Method Summary

      Modifier and Type Method Description
      private static void checkAxes​(int[] axes)  
      double[] getAngles()
      Return the angle sequence for this instance.
      double[] getAngles​(AngularUnits units)
      Return the angle sequence for this instance, where the angles are expressed in user-specified units.
      int[] getAxes()
      Return the axis index sequence for this instance.
      Matrix33 toMatrix()
      Convert this instance to a rotation matrix.
      java.lang.String toString()
      Return a string representation of the contents of this EulerAngles instance.This overrides Object's toString method.
      • Methods inherited from class java.lang.Object

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

      • indexNames

        private static java.lang.String[] indexNames
      • angles

        double[] angles
      • axes

        int[] axes
    • Constructor Detail

      • EulerAngles

        public EulerAngles​(EulerAngles eul)
        Copy constructor.
        Parameters:
        eul - EulerAngles
      • EulerAngles

        public EulerAngles​(double leftAngle,
                           double centerAngle,
                           double rightAngle,
                           int leftAxis,
                           int centerAxis,
                           int rightAxis)
                    throws SpiceException
        Construct an Euler angle sequence from three angles and three axis indices.

        Angular units are radians.

        Axis numbers are in the set { 1, 2, 3 }.

        The Euler angle sequence represents the rotation

           [leftAngle]         [centerAngle]           [rightAngle]
                      leftAxis              centerAxis             rightAxis
           
        Parameters:
        leftAngle - double
        rightAxis - int
        centerAngle - double
        centerAxis - int
        rightAngle - double
        leftAxis - int
        Throws:
        SpiceException - exeption
      • EulerAngles

        public EulerAngles​(double leftAngle,
                           double centerAngle,
                           double rightAngle,
                           AngularUnits units,
                           int leftAxis,
                           int centerAxis,
                           int rightAxis)
                    throws SpiceException
        Construct an Euler angle sequence from three angles having specified units and three axis indices.

        The angles will be converted to radians on input.

        Axis numbers are in the set { 1, 2, 3 }.

        The Euler angle sequence represents the rotation

           [leftAngle]         [centerAngle]           [rightAngle]
                      leftAxis              centerAxis             rightAxis
           
        Parameters:
        leftAngle - double
        rightAxis - int
        centerAngle - double
        centerAxis - int
        rightAngle - double
        leftAxis - int
        units - AngularUnits
        Throws:
        SpiceException - exeption
      • EulerAngles

        public EulerAngles​(double[] angles,
                           int[] axes)
                    throws SpiceException
        Construct an Euler angle sequence from an array of three angles and an array of three axis indices.

        Angular units are radians.

        Axis numbers are in the set { 1, 2, 3 }.

        The Euler angle sequence represents the rotation

           [ angles[0] ]         [ angles[1] ]         [ angles[2] ]
                        axes[0]               axes[1]               axes[2]
           
        Parameters:
        angles - double[]
        axes - int[]
        Throws:
        SpiceException - exeption
      • EulerAngles

        public EulerAngles​(Matrix33 m,
                           int[] axes)
                    throws SpiceException
        Construct an Euler angle sequence from a rotation matrix and an array of three axis indices.

        Axis numbers are in the set { 1, 2, 3 }.

        The Euler angle sequence represents the rotation

           m  =  [ angles[0] ]        [ angles[1] ]         [ angles[2] ]
                              axes[0]              axes[1]               axes[2]
           
        Parameters:
        m - Matrix33
        axes - int[]
        Throws:
        SpiceException - exeption
    • Method Detail

      • getAxes

        public int[] getAxes()
        Return the axis index sequence for this instance.
        Returns:
        int[]
      • getAngles

        public double[] getAngles()
        Return the angle sequence for this instance.

        Angular units are radians.

        Returns:
        double[]
      • getAngles

        public double[] getAngles​(AngularUnits units)
        Return the angle sequence for this instance, where the angles are expressed in user-specified units.
        Parameters:
        units - AngularUnits
        Returns:
        double[]
      • toString

        public java.lang.String toString()
        Return a string representation of the contents of this EulerAngles instance.This overrides Object's toString method.
        Overrides:
        toString in class java.lang.Object
        Returns:
        String