Example usage for org.apache.commons.math3.geometry.euclidean.threed FieldRotation applyTo

Introduction

In this page you can find the example usage for org.apache.commons.math3.geometry.euclidean.threed FieldRotation applyTo.

Prototype

public static <T extends RealFieldElement<T>> FieldRotation<T> applyTo(final Rotation r1,
        final FieldRotation<T> rInner) 

Source Link

Document

Apply a rotation to another rotation.

Usage

From source file:org.orekit.frames.Transform.java

/** Transform a position vector (including translation effects).
 * @param position vector to transform/*from  ww w.  ja  va 2s. c o  m*/
 * @param <T> the type of the field elements
 * @return transformed position
 */
public <T extends RealFieldElement<T>> FieldVector3D<T> transformPosition(final FieldVector3D<T> position) {
    return FieldRotation.applyTo(angular.getRotation(), position.add(cartesian.getPosition()));
}

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From source file:org.orekit.frames.Transform.java

/** Transform a vector (ignoring translation effects).
 * @param vector vector to transform/*w w w.jav a  2 s  .c o m*/
 * @param <T> the type of the field elements
 * @return transformed vector
 */
public <T extends RealFieldElement<T>> FieldVector3D<T> transformVector(final FieldVector3D<T> vector) {
    return FieldRotation.applyTo(angular.getRotation(), vector);
}

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From source file:org.orekit.frames.Transform.java

/** Transform {@link FieldPVCoordinates} including kinematic effects.
 * @param pv position-velocity to transform.
 * @param <T> type of the field elements
 * @return transformed position-velocity
 *//*from ww w  . ja  v  a2 s  .  c  o  m*/
public <T extends RealFieldElement<T>> FieldPVCoordinates<T> transformPVCoordinates(
        final FieldPVCoordinates<T> pv) {

    // apply translation
    final FieldVector3D<T> intermediateP = pv.getPosition().add(cartesian.getPosition());
    final FieldVector3D<T> intermediateV = pv.getVelocity().add(cartesian.getVelocity());
    final FieldVector3D<T> intermediateA = pv.getAcceleration().add(cartesian.getAcceleration());

    // apply rotation
    final FieldVector3D<T> transformedP = FieldRotation.applyTo(angular.getRotation(), intermediateP);
    final FieldVector3D<T> crossP = FieldVector3D.crossProduct(angular.getRotationRate(), transformedP);
    final FieldVector3D<T> transformedV = FieldRotation.applyTo(angular.getRotation(), intermediateV)
            .subtract(crossP);
    final FieldVector3D<T> crossV = FieldVector3D.crossProduct(angular.getRotationRate(), transformedV);
    final FieldVector3D<T> crossCrossP = FieldVector3D.crossProduct(angular.getRotationRate(), crossP);
    final FieldVector3D<T> crossDotP = FieldVector3D.crossProduct(angular.getRotationAcceleration(),
            transformedP);
    final FieldVector3D<T> transformedA = new FieldVector3D<T>(1,
            FieldRotation.applyTo(angular.getRotation(), intermediateA), -2, crossV, -1, crossCrossP, -1,
            crossDotP);

    // build transformed object
    return new FieldPVCoordinates<T>(transformedP, transformedV, transformedA);

}

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From source file:org.orekit.frames.Transform.java

/** Transform {@link TimeStampedFieldPVCoordinates} including kinematic effects.
 * <p>//from   ww w  . j av  a 2s .  c  om
 * In order to allow the user more flexibility, this method does <em>not</em> check for
 * consistency between the transform {@link #getDate() date} and the time-stamped
 * position-velocity {@link TimeStampedFieldPVCoordinates#getDate() date}. The returned
 * value will always have the same {@link TimeStampedFieldPVCoordinates#getDate() date} as
 * the input argument, regardless of the instance {@link #getDate() date}.
 * </p>
 * @param pv time-stamped position-velocity to transform.
 * @param <T> type of the field elements
 * @return transformed time-stamped position-velocity
 * @since 7.0
 */
public <T extends RealFieldElement<T>> TimeStampedFieldPVCoordinates<T> transformPVCoordinates(
        final TimeStampedFieldPVCoordinates<T> pv) {

    // apply translation
    final FieldVector3D<T> intermediateP = pv.getPosition().add(cartesian.getPosition());
    final FieldVector3D<T> intermediateV = pv.getVelocity().add(cartesian.getVelocity());
    final FieldVector3D<T> intermediateA = pv.getAcceleration().add(cartesian.getAcceleration());

    // apply rotation
    final FieldVector3D<T> transformedP = FieldRotation.applyTo(angular.getRotation(), intermediateP);
    final FieldVector3D<T> crossP = FieldVector3D.crossProduct(angular.getRotationRate(), transformedP);
    final FieldVector3D<T> transformedV = FieldRotation.applyTo(angular.getRotation(), intermediateV)
            .subtract(crossP);
    final FieldVector3D<T> crossV = FieldVector3D.crossProduct(angular.getRotationRate(), transformedV);
    final FieldVector3D<T> crossCrossP = FieldVector3D.crossProduct(angular.getRotationRate(), crossP);
    final FieldVector3D<T> crossDotP = FieldVector3D.crossProduct(angular.getRotationAcceleration(),
            transformedP);
    final FieldVector3D<T> transformedA = new FieldVector3D<T>(1,
            FieldRotation.applyTo(angular.getRotation(), intermediateA), -2, crossV, -1, crossCrossP, -1,
            crossDotP);

    // build transformed object
    return new TimeStampedFieldPVCoordinates<T>(pv.getDate(), transformedP, transformedV, transformedA);

}

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