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Java example source code file (RotationConvention.java)

This example Java source code file (RotationConvention.java) is included in the alvinalexander.com "Java Source Code Warehouse" project. The intent of this project is to help you "Learn Java by Example" TM.

Learn more about this Java project at its project page.

Java - Java tags/keywords

frame_transform, rotationconvention, vector_operator

The RotationConvention.java Java example source code

/*
 * Licensed to the Apache Software Foundation (ASF) under one or more
 * contributor license agreements.  See the NOTICE file distributed with
 * this work for additional information regarding copyright ownership.
 * The ASF licenses this file to You under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with
 * the License.  You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package org.apache.commons.math3.geometry.euclidean.threed;

/**
 * This enumerates is used to differentiate the semantics of a rotation.
 * @see Rotation
 * @since 3.6
 */
public enum RotationConvention {

    /** Constant for rotation that have the semantics of a vector operator.
     * <p>
     * According to this convention, the rotation moves vectors with respect
     * to a fixed reference frame.
     * </p>
     * <p>
     * This means that if we define rotation r is a 90 degrees rotation around
     * the Z axis, the image of vector {@link Vector3D#PLUS_I} would be
     * {@link Vector3D#PLUS_J}, the image of vector {@link Vector3D#PLUS_J}
     * would be {@link Vector3D#MINUS_I}, the image of vector {@link Vector3D#PLUS_K}
     * would be {@link Vector3D#PLUS_K}, and the image of vector with coordinates (1, 2, 3)
     * would be vector (-2, 1, 3). This means that the vector rotates counterclockwise.
     * </p>
     * <p>
     * This convention was the only one supported by Apache Commons Math up to version 3.5.
     * </p>
     * <p>
     * The difference with {@link #FRAME_TRANSFORM} is only the semantics of the sign
     * of the angle. It is always possible to create or use a rotation using either
     * convention to really represent a rotation that would have been best created or
     * used with the other convention, by changing accordingly the sign of the
     * rotation angle. This is how things were done up to version 3.5.
     * </p>
     */
    VECTOR_OPERATOR,

    /** Constant for rotation that have the semantics of a frame conversion.
     * <p>
     * According to this convention, the rotation considered vectors to be fixed,
     * but their coordinates change as they are converted from an initial frame to
     * a destination frame rotated with respect to the initial frame.
     * </p>
     * <p>
     * This means that if we define rotation r is a 90 degrees rotation around
     * the Z axis, the image of vector {@link Vector3D#PLUS_I} would be
     * {@link Vector3D#MINUS_J}, the image of vector {@link Vector3D#PLUS_J}
     * would be {@link Vector3D#PLUS_I}, the image of vector {@link Vector3D#PLUS_K}
     * would be {@link Vector3D#PLUS_K}, and the image of vector with coordinates (1, 2, 3)
     * would be vector (2, -1, 3). This means that the coordinates of the vector rotates
     * clockwise, because they are expressed with respect to a destination frame that is rotated
     * counterclockwise.
     * </p>
     * <p>
     * The difference with {@link #VECTOR_OPERATOR} is only the semantics of the sign
     * of the angle. It is always possible to create or use a rotation using either
     * convention to really represent a rotation that would have been best created or
     * used with the other convention, by changing accordingly the sign of the
     * rotation angle. This is how things were done up to version 3.5.
     * </p>
     */
    FRAME_TRANSFORM;

}

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