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


    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 } };

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                      { 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]));

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      }
    }


    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]));


    double[][] m4 = { { 1.0,  0.0,  0.0 },

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    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]));


    double[][] m4 = { { 1.0,  0.0,  0.0 },
                      { 0.0, -1.0,  0.0 },
                      { 0.0,  0.0, -1.0 } };

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                               true);
    for (double x = -0.9; x < 0.9; x += 0.2) {
      for (double y = -0.9; y < 0.9; y += 0.2) {
        for (double z = -0.9; z < 0.9; z += 0.2) {
          Vector3D u = new Vector3D(x, y, z);
          checkVector(r2.applyTo(u), r1.applyTo(u));
        }
      }
    }


    r1 = new Rotation( 0.288,  0.384,  0.36,  0.8, false);

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    for (double x = -0.9; x < 0.9; x += 0.2) {
      for (double y = -0.9; y < 0.9; y += 0.2) {
        for (double z = -0.9; z < 0.9; z += 0.2) {
          Vector3D u = new Vector3D(x, y, z);
          checkVector(r2.applyTo(r1.applyTo(u)), r3.applyTo(u));
        }
      }
    }


  }

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    for (double x = -0.9; x < 0.9; x += 0.2) {
      for (double y = -0.9; y < 0.9; y += 0.2) {
        for (double z = -0.9; z < 0.9; z += 0.2) {
          Vector3D u = new Vector3D(x, y, z);
          checkVector(r2.applyInverseTo(r1.applyTo(u)), r3.applyTo(u));
        }
      }
    }


  }

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    for (double lambda = 0; lambda < 6.2; lambda += 0.2) {
      for (double phi = -1.55; phi < 1.55; phi += 0.2) {
          Vector3D u = new Vector3D(Math.cos(lambda) * Math.cos(phi),
                                    Math.sin(lambda) * Math.cos(phi),
                                    Math.sin(phi));
          r.applyInverseTo(r.applyTo(u));
          checkVector(u, r.applyInverseTo(r.applyTo(u)));
          checkVector(u, r.applyTo(r.applyInverseTo(u)));
      }
    }

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