JNISpice
version 2.0.0

spice.basic
Class RotationAndAV

java.lang.Object
  extended by spice.basic.RotationAndAV

public class RotationAndAV
extends java.lang.Object

Class RotationAndAV packages combinations of rotation matrices and angular velocity vectors that correspond to state transformation matrices.

Version 1.0.0 15-DEC-2009 (NJB)


Field Summary
static double DET_TOL
          DET_TOL is the maximum allowed deviation from 1 of the determinant of an input rotation matrix.
static double NORM_TOL
          NORM_TOL is the maximum allowed deviation from unit length of any column of an input rotation matrix.
 
Constructor Summary
RotationAndAV(Matrix33 r, Vector3 av)
          Create a rotation and angular velocity from a rotation matrix and an angular velocity vector.
RotationAndAV(Matrix66 xform)
          Create a rotation and angular velocity from a state transformation matrix.
RotationAndAV(RotationAndAV r)
          Copy constructor.
 
Method Summary
 Vector3 getAngularVelocity()
          Get the angular velocity from this instance.
 Matrix33 getRotation()
          Get the rotation matrix from this instance.
 Matrix66 toMatrix()
          Convert this instance to a state transformation matrix.
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

NORM_TOL

public static final double NORM_TOL
NORM_TOL is the maximum allowed deviation from unit length of any column of an input rotation matrix.

See Also:
Constant Field Values

DET_TOL

public static final double DET_TOL
DET_TOL is the maximum allowed deviation from 1 of the determinant of an input rotation matrix.

See Also:
Constant Field Values
Constructor Detail

RotationAndAV

public RotationAndAV(RotationAndAV r)
Copy constructor. This constructor creates a deep copy.


RotationAndAV

public RotationAndAV(Matrix33 r,
                     Vector3 av)
              throws SpiceException
Create a rotation and angular velocity from a rotation matrix and an angular velocity vector. The vector has units of radians/sec.

Throws:
SpiceException

RotationAndAV

public RotationAndAV(Matrix66 xform)
              throws SpiceException
Create a rotation and angular velocity from a state transformation matrix.

Throws:
SpiceException
Method Detail

getRotation

public Matrix33 getRotation()
Get the rotation matrix from this instance.


getAngularVelocity

public Vector3 getAngularVelocity()
Get the angular velocity from this instance.


toMatrix

public Matrix66 toMatrix()
                  throws SpiceException
Convert this instance to a state transformation matrix.

Throws:
SpiceException

JNISpice
version 2.0.0

JNISpice Alpha Test Version 2.0.0 28-JAN-2017 (NJB)