Examples of org.apache.commons.math.geometry.Rotation.applyTo()

Package org.apache.commons.math.geometry

Class org.apache.commons.math.geometry.Rotation

Examples of org.apache.commons.math.geometry.Rotation.applyTo()

org.apache.commons.math.geometry.Rotation.applyTo()
Apply the rotation to a vector. @param u vector to apply the rotation to @return a new vector which is the image of u by the rotation


  public void testAxisAngle() {


    Rotation r = new Rotation(new Vector3D(10, 10, 10), 2 * Math.PI / 3);
    checkVector(r.applyTo(Vector3D.PLUS_I), Vector3D.PLUS_J);
    checkVector(r.applyTo(Vector3D.PLUS_J), Vector3D.PLUS_K);
    checkVector(r.applyTo(Vector3D.PLUS_K), Vector3D.PLUS_I);
    double s = 1 / Math.sqrt(3);
    checkVector(r.getAxis(), new Vector3D(s, s, s));
    checkAngle(r.getAngle(), 2 * Math.PI / 3);

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  public void testAxisAngle() {


    Rotation r = new Rotation(new Vector3D(10, 10, 10), 2 * Math.PI / 3);
    checkVector(r.applyTo(Vector3D.PLUS_I), Vector3D.PLUS_J);
    checkVector(r.applyTo(Vector3D.PLUS_J), Vector3D.PLUS_K);
    checkVector(r.applyTo(Vector3D.PLUS_K), Vector3D.PLUS_I);
    double s = 1 / Math.sqrt(3);
    checkVector(r.getAxis(), new Vector3D(s, s, s));
    checkAngle(r.getAngle(), 2 * Math.PI / 3);


    try {

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  public void testRevert() {
    Rotation r = new Rotation(0.001, 0.36, 0.48, 0.8, true);
    Rotation reverted = r.revert();
    checkRotation(r.applyTo(reverted), 1, 0, 0, 0);
    checkRotation(reverted.applyTo(r), 1, 0, 0, 0);
    assertEquals(r.getAngle(), reverted.getAngle(), 1.0e-12);
    assertEquals(-1, Vector3D.dotProduct(r.getAxis(), reverted.getAxis()), 1.0e-12);
  }


  public void testVectorOnePair() {

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  public void testVectorOnePair() {


    Vector3D u = new Vector3D(3, 2, 1);
    Vector3D v = new Vector3D(-4, 2, 2);
    Rotation r = new Rotation(u, v);
    checkVector(r.applyTo(u.scalarMultiply(v.getNorm())), v.scalarMultiply(u.getNorm()));


    checkAngle(new Rotation(u, u.negate()).getAngle(), Math.PI);


    try {
        new Rotation(u, Vector3D.ZERO);

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    Vector3D u1 = new Vector3D(3, 0, 0);
    Vector3D u2 = new Vector3D(0, 5, 0);
    Vector3D v1 = new Vector3D(0, 0, 2);
    Vector3D v2 = new Vector3D(-2, 0, 2);
    Rotation r = new Rotation(u1, u2, v1, v2);
    checkVector(r.applyTo(Vector3D.PLUS_I), Vector3D.PLUS_K);
    checkVector(r.applyTo(Vector3D.PLUS_J), Vector3D.MINUS_I);


    r = new Rotation(u1, u2, u1.negate(), u2.negate());
    Vector3D axis = r.getAxis();
    if (Vector3D.dotProduct(axis, Vector3D.PLUS_K) > 0) {

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    Vector3D u2 = new Vector3D(0, 5, 0);
    Vector3D v1 = new Vector3D(0, 0, 2);
    Vector3D v2 = new Vector3D(-2, 0, 2);
    Rotation r = new Rotation(u1, u2, v1, v2);
    checkVector(r.applyTo(Vector3D.PLUS_I), Vector3D.PLUS_K);
    checkVector(r.applyTo(Vector3D.PLUS_J), Vector3D.MINUS_I);


    r = new Rotation(u1, u2, u1.negate(), u2.negate());
    Vector3D axis = r.getAxis();
    if (Vector3D.dotProduct(axis, Vector3D.PLUS_K) > 0) {
      checkVector(axis, Vector3D.PLUS_K);

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    double[][] m1 = { { 0.0, 1.0, 0.0 },
                      { 0.0, 0.0, 1.0 },
                      { 1.0, 0.0, 0.0 } };
    Rotation r = new Rotation(m1, 1.0e-7);
    checkVector(r.applyTo(Vector3D.PLUS_I), Vector3D.PLUS_K);
    checkVector(r.applyTo(Vector3D.PLUS_J), Vector3D.PLUS_I);
    checkVector(r.applyTo(Vector3D.PLUS_K), Vector3D.PLUS_J);


    double[][] m2 = { { 0.83203, -0.55012, -0.07139 },
                      { 0.48293,  0.78164, -0.39474 },

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    double[][] m1 = { { 0.0, 1.0, 0.0 },
                      { 0.0, 0.0, 1.0 },
                      { 1.0, 0.0, 0.0 } };
    Rotation r = new Rotation(m1, 1.0e-7);
    checkVector(r.applyTo(Vector3D.PLUS_I), Vector3D.PLUS_K);
    checkVector(r.applyTo(Vector3D.PLUS_J), Vector3D.PLUS_I);
    checkVector(r.applyTo(Vector3D.PLUS_K), Vector3D.PLUS_J);


    double[][] m2 = { { 0.83203, -0.55012, -0.07139 },
                      { 0.48293,  0.78164, -0.39474 },
                      { 0.27296,  0.29396,  0.91602 } };

View Full Code Here

                      { 0.0, 0.0, 1.0 },
                      { 1.0, 0.0, 0.0 } };
    Rotation r = new Rotation(m1, 1.0e-7);
    checkVector(r.applyTo(Vector3D.PLUS_I), Vector3D.PLUS_K);
    checkVector(r.applyTo(Vector3D.PLUS_J), Vector3D.PLUS_I);
    checkVector(r.applyTo(Vector3D.PLUS_K), Vector3D.PLUS_J);


    double[][] m2 = { { 0.83203, -0.55012, -0.07139 },
                      { 0.48293,  0.78164, -0.39474 },
                      { 0.27296,  0.29396,  0.91602 } };
    r = new Rotation(m2, 1.0e-12);

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          assertTrue(Math.abs(m3tm3) < 1.0e-10);
        }
      }
    }


    checkVector(r.applyTo(Vector3D.PLUS_I),
                new Vector3D(m3[0][0], m3[1][0], m3[2][0]));
    checkVector(r.applyTo(Vector3D.PLUS_J),
                new Vector3D(m3[0][1], m3[1][1], m3[2][1]));
    checkVector(r.applyTo(Vector3D.PLUS_K),
                new Vector3D(m3[0][2], m3[1][2], m3[2][2]));

View Full Code Here

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