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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
This commit is contained in:
Luc Maisonobe 2013-02-19 15:07:04 +00:00
parent fc277966a7
commit 8dd9f830ad
2 changed files with 9 additions and 10 deletions
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7
src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDS.java
View File

@ -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. /** Apply the rotation to a vector.
* @param u vector to apply the rotation to * @param u vector to apply the rotation to
* @return a new vector which is the image of u by the rotation * @return a new vector which is the image of u by the rotation

12
src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDSTest.java
View File

@ -486,11 +486,7 @@ public class RotationDSTest {
RotationDS r1 = new RotationDS(createVector(2, -3, 5), createAngle(1.7)); RotationDS r1 = new RotationDS(createVector(2, -3, 5), createAngle(1.7));
RotationDS r2 = new RotationDS(createVector(-1, 3, 2), createAngle(0.3)); RotationDS r2 = new RotationDS(createVector(-1, 3, 2), createAngle(0.3));
RotationDS r3 = r2.applyTo(r1); RotationDS r3 = r2.applyTo(r1);
RotationDS r3Double = r2.applyTo(new Rotation(r1.getQ0().getValue(), RotationDS r3Double = r2.applyTo(r1.toRotation());
r1.getQ1().getValue(),
r1.getQ2().getValue(),
r1.getQ3().getValue(),
false));
for (double x = -0.9; x < 0.9; x += 0.2) { for (double x = -0.9; x < 0.9; x += 0.2) {
for (double y = -0.9; y < 0.9; y += 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 r1 = new RotationDS(createVector(2, -3, 5), createAngle(1.7));
RotationDS r2 = new RotationDS(createVector(-1, 3, 2), createAngle(0.3)); RotationDS r2 = new RotationDS(createVector(-1, 3, 2), createAngle(0.3));
RotationDS r3 = r2.applyInverseTo(r1); RotationDS r3 = r2.applyInverseTo(r1);
RotationDS r3Double = r2.applyInverseTo(new Rotation(r1.getQ0().getValue(), RotationDS r3Double = r2.applyInverseTo(r1.toRotation());
r1.getQ1().getValue(),
r1.getQ2().getValue(),
r1.getQ3().getValue(),
false));
for (double x = -0.9; x < 0.9; x += 0.2) { for (double x = -0.9; x < 0.9; x += 0.2) {
for (double y = -0.9; y < 0.9; y += 0.2) { for (double y = -0.9; y < 0.9; y += 0.2) {