From 8dd9f830ad13a07a818e3057b64d379969329356 Mon Sep 17 00:00:00 2001
From: Luc Maisonobe <luc@apache.org>
Date: Tue, 19 Feb 2013 15:07:04 +0000
Subject: [PATCH] Added a conversion from RotationDS to Rotation.

git-svn-id: https://svn.apache.org/repos/asf/commons/proper/math/trunk@1447753 13f79535-47bb-0310-9956-ffa450edef68
---
 .../math3/geometry/euclidean/threed/RotationDS.java  |  7 +++++++
 .../geometry/euclidean/threed/RotationDSTest.java    | 12 ++----------
 2 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDS.java b/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDS.java
index 485dca054..2ba8a4def 100644
--- a/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDS.java
+++ b/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDS.java
@@ -786,6 +786,13 @@ public class RotationDS implements Serializable {
 
     }
 
+    /** Convert to a constant vector without derivatives.
+     * @return a constant vector
+     */
+    public Rotation toRotation() {
+        return new Rotation(q0.getValue(), q1.getValue(), q2.getValue(), q3.getValue(), false);
+    }
+
     /** 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
diff --git a/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDSTest.java b/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDSTest.java
index cd1497694..924baff34 100644
--- a/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDSTest.java
+++ b/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDSTest.java
@@ -486,11 +486,7 @@ public class RotationDSTest {
         RotationDS r1       = new RotationDS(createVector(2, -3, 5), createAngle(1.7));
         RotationDS r2       = new RotationDS(createVector(-1, 3, 2), createAngle(0.3));
         RotationDS r3       = r2.applyTo(r1);
-        RotationDS r3Double = r2.applyTo(new Rotation(r1.getQ0().getValue(),
-                                                      r1.getQ1().getValue(),
-                                                      r1.getQ2().getValue(),
-                                                      r1.getQ3().getValue(),
-                                                      false));
+        RotationDS r3Double = r2.applyTo(r1.toRotation());
 
         for (double x = -0.9; x < 0.9; x += 0.2) {
             for (double y = -0.9; y < 0.9; y += 0.2) {
@@ -510,11 +506,7 @@ public class RotationDSTest {
         RotationDS r1 = new RotationDS(createVector(2, -3, 5), createAngle(1.7));
         RotationDS r2 = new RotationDS(createVector(-1, 3, 2), createAngle(0.3));
         RotationDS r3 = r2.applyInverseTo(r1);
-        RotationDS r3Double = r2.applyInverseTo(new Rotation(r1.getQ0().getValue(),
-                                                             r1.getQ1().getValue(),
-                                                             r1.getQ2().getValue(),
-                                                             r1.getQ3().getValue(),
-                                                             false));
+        RotationDS r3Double = r2.applyInverseTo(r1.toRotation());
 
         for (double x = -0.9; x < 0.9; x += 0.2) {
             for (double y = -0.9; y < 0.9; y += 0.2) {