Example usage for org.apache.commons.math3.geometry.euclidean.threed Rotation Rotation

Introduction

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

Prototype

public Rotation(Vector3D u, Vector3D v) throws MathArithmeticException 

Source Link

Document

Build one of the rotations that transform one vector into another one.

Usage

From source file:org.orekit.utils.TimeStampedAngularCoordinatesTest.java

@Test
public void testInterpolationWithoutAcceleration() throws OrekitException {
    AbsoluteDate date = AbsoluteDate.GALILEO_EPOCH;
    double alpha0 = 0.5 * FastMath.PI;
    double omega = 0.05 * FastMath.PI;
    final TimeStampedAngularCoordinates reference = new TimeStampedAngularCoordinates(date,
            new Rotation(Vector3D.PLUS_K, alpha0), new Vector3D(omega, Vector3D.MINUS_K), Vector3D.ZERO);
    double[] errors = interpolationErrors(reference, 1.0);
    Assert.assertEquals(0.0, errors[0], 1.0e-15);
    Assert.assertEquals(0.0, errors[1], 3.0e-15);
    Assert.assertEquals(0.0, errors[2], 3.0e-14);
}

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From source file:org.orekit.utils.TimeStampedAngularCoordinatesTest.java

@Test
public void testInterpolationWithAcceleration() throws OrekitException {
    AbsoluteDate date = AbsoluteDate.GALILEO_EPOCH;
    double alpha0 = 0.5 * FastMath.PI;
    double omega = 0.05 * FastMath.PI;
    double eta = 0.005 * FastMath.PI;
    final TimeStampedAngularCoordinates reference = new TimeStampedAngularCoordinates(date,
            new Rotation(Vector3D.PLUS_K, alpha0), new Vector3D(omega, Vector3D.MINUS_K),
            new Vector3D(eta, Vector3D.PLUS_J));
    double[] errors = interpolationErrors(reference, 1.0);
    Assert.assertEquals(0.0, errors[0], 3.0e-5);
    Assert.assertEquals(0.0, errors[1], 2.0e-4);
    Assert.assertEquals(0.0, errors[2], 4.6e-3);
}

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From source file:org.orekit.utils.TimeStampedAngularCoordinatesTest.java

@Test
public void testInterpolationRotationOnly() throws OrekitException {
    AbsoluteDate date = AbsoluteDate.GALILEO_EPOCH;
    double alpha0 = 0.5 * FastMath.PI;
    double omega = 0.5 * FastMath.PI;
    TimeStampedAngularCoordinates reference = new TimeStampedAngularCoordinates(date,
            new Rotation(Vector3D.PLUS_K, alpha0), new Vector3D(omega, Vector3D.MINUS_K), Vector3D.ZERO);

    List<TimeStampedAngularCoordinates> sample = new ArrayList<TimeStampedAngularCoordinates>();
    for (double dt : new double[] { 0.0, 0.2, 0.4, 0.6, 0.8, 1.0 }) {
        Rotation r = reference.shiftedBy(dt).getRotation();
        sample.add(new TimeStampedAngularCoordinates(date.shiftedBy(dt), r, Vector3D.ZERO, Vector3D.ZERO));
    }/*from   www .j  a v  a2  s.c  o  m*/

    for (double dt = 0; dt < 1.0; dt += 0.001) {
        TimeStampedAngularCoordinates interpolated = TimeStampedAngularCoordinates
                .interpolate(date.shiftedBy(dt), AngularDerivativesFilter.USE_R, sample);
        Rotation r = interpolated.getRotation();
        Vector3D rate = interpolated.getRotationRate();
        Assert.assertEquals(0.0, Rotation.distance(reference.shiftedBy(dt).getRotation(), r), 3.0e-4);
        Assert.assertEquals(0.0, Vector3D.distance(reference.shiftedBy(dt).getRotationRate(), rate), 1.0e-2);
    }

}

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From source file:org.orekit.utils.TimeStampedAngularCoordinatesTest.java

@Test
public void testInterpolationTooSmallSample() throws OrekitException {
    AbsoluteDate date = AbsoluteDate.GALILEO_EPOCH;
    double alpha0 = 0.5 * FastMath.PI;
    double omega = 0.5 * FastMath.PI;
    TimeStampedAngularCoordinates reference = new TimeStampedAngularCoordinates(date,
            new Rotation(Vector3D.PLUS_K, alpha0), new Vector3D(omega, Vector3D.MINUS_K), Vector3D.ZERO);

    List<TimeStampedAngularCoordinates> sample = new ArrayList<TimeStampedAngularCoordinates>();
    Rotation r = reference.shiftedBy(0.2).getRotation();
    sample.add(new TimeStampedAngularCoordinates(date.shiftedBy(0.2), r, Vector3D.ZERO, Vector3D.ZERO));

    try {//from w  ww  .j a v a  2  s . c  om
        TimeStampedAngularCoordinates.interpolate(date.shiftedBy(0.3), AngularDerivativesFilter.USE_R, sample);
        Assert.fail("an exception should have been thrown");
    } catch (OrekitException oe) {
        Assert.assertEquals(OrekitMessages.NOT_ENOUGH_DATA_FOR_INTERPOLATION, oe.getSpecifier());
        Assert.assertEquals(1, ((Integer) oe.getParts()[0]).intValue());
    }

}

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From source file:sceneGraph.Rot.java

public Rot(DVector v, double t) {
    Vector3D axis = new Vector3D((double) v.x, (double) v.y, (double) v.z);
    double angle = (double) t;
    try {//from  www  . ja  v a2s.c  om
        rotation = new Rotation(axis, angle);
    } catch (Exception e) {
        rotation = new Rotation(new Vector3D(1, 0, 0), 0d);
    }
}

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From source file:sceneGraph.Rot.java

public Rot(DVector v, DVector u) {
    Vector3D begin = new Vector3D((double) v.x, (double) v.y, (double) v.z);
    Vector3D end = new Vector3D((double) u.x, (double) u.y, (double) u.z);
    try {/*from www  .jav a2 s .co m*/
        rotation = new Rotation(begin, end);
    } catch (Exception e) {
        rotation = new Rotation(new Vector3D(1, 0, 0), 0d);
    }
}

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From source file:sceneGraph.Rot.java

public Rot(PVector v, double t) {
    Vector3D axis = new Vector3D((double) v.x, (double) v.y, (double) v.z);
    double angle = (double) t;
    try {/*ww  w.j  a  v  a2s.co  m*/
        rotation = new Rotation(axis, angle);
    } catch (Exception e) {
        rotation = new Rotation(new Vector3D(1, 0, 0), 0d);
    }
}

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From source file:sceneGraph.Rot.java

public Rot(PVector v, PVector u) {
    Vector3D begin = new Vector3D((double) v.x, (double) v.y, (double) v.z);
    Vector3D end = new Vector3D((double) u.x, (double) u.y, (double) u.z);
    try {//  w  ww . ja  v  a 2 s. co  m
        rotation = new Rotation(begin, end);
    } catch (Exception e) {
        rotation = new Rotation(new Vector3D(1, 0, 0), 0d);
    }
}

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From source file:shapeCompare.ResultsFromEvaluateCost.java

@Override
public int hashCode() {

    float unit = 3 * algoParameters.getCELL_DIMENSION_OF_THE_PROBABILITY_MAP_ANGSTROM();

    RealVector trans = this.getTranslationVector();
    double x = trans.getEntry(0);
    double y = trans.getEntry(1);
    double z = trans.getEntry(2);
    int xInt = (int) Math.round(x / unit);
    int yInt = (int) Math.round(y / unit);
    int zInt = (int) Math.round(z / unit);

    RealMatrix rotMat = this.getRotationMatrix();
    Rotation rotation = new Rotation(rotMat.getData(), 0.01);

    int unitAngleDegrees = 8;
    double angle = rotation.getAngle();
    int angleInt = (int) Math.round((angle * 180 / Math.PI) / unitAngleDegrees);

    int hashcode = xInt;
    hashcode = hashcode * 71 + yInt;//from w  w  w  .  ja  v a2  s  .  com
    hashcode = hashcode * 71 + zInt;
    hashcode = hashcode * 71 + angleInt;
    return hashcode;
}

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