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java.lang.Objectsugr.Element
sugr.Transformation
sugr.Homography_3D
sugr.Affinity_3D
sugr.ScaledMotion_3D
sugr.Motion_3D
sugr.Rotation_3D
class containing rotation(3) constructors.
Field Summary | |
private static long |
serialVersionUID
Class version number for serialization |
Fields inherited from class sugr.Homography_3D |
DIM |
Fields inherited from class sugr.Element |
cov, MAXITER, v |
Constructor Summary | |
Rotation_3D()
standard constructor. |
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Rotation_3D(double omega,
double phi,
double kappa)
Represents a rotation by three angles around the three axis' with following order of Rotationmatrices: R_z x R_y x R_x. |
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Rotation_3D(double q0,
double q1,
double q2,
double q3)
representation of rotation with quaternions. |
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Rotation_3D(double q0,
double q1,
double q2,
double q3,
Matrix cov)
representation of rotation with quaternions and covariance (of rotation matrix!) |
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Rotation_3D(double omega,
double phi,
double kappa,
Matrix cov)
Represents a rotation by three angles around the three axis'. |
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Rotation_3D(Vector spinAxis)
representation of rotation through RODRIGUEZ Please note: rotations with 180° are not allowed |
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Rotation_3D(Vector axis,
double angle)
Rotate around any abitrary axix with angle |
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Rotation_3D(Vector axis,
double angle,
Matrix cov)
Rotate around any abitrary axix with angle, with covariance |
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Rotation_3D(Vector spinAxis,
Matrix cov)
representation of rotation through RODRIGUEZ with covariance (only covariance of rotation matrix) Please note: rotations with 180° are not allowed Found in: http://www.ipb.uni-bonn.de/publications/papers99/foerstner99_rotation.ps.gz |
Method Summary | |
int |
getDegreesOfFreedom()
Returns the number of elements to specify this transformation |
Methods inherited from class sugr.Motion_3D |
estimate, getConstraintValue, getJacobianOfConstraint, printConstraint |
Methods inherited from class sugr.ScaledMotion_3D |
approximate |
Methods inherited from class sugr.Homography_3D |
doCondition, getDimCol, getDimRow, getJacobianAfterFirst, getJacobianAfterSecond, getLineMatrix, getPlaneMatrix, getPointMatrix, transform |
Methods inherited from class sugr.Transformation |
errorProp, getDimension, getJacobianOfRelation, getReducedAB, getTransformationMatrix, getTransposeTransMatrix, transform |
Methods inherited from class sugr.Element |
calcCov, changeNullspace, changeNullspace, checkCovDim, checkElement, clone, ensureConstraints, estimate, gaussHelmertIterations, gaussHelmertIterationsOld, getCov, getV, normalizeSphere, normalizeSphereComparable, print, print, reduceFirstMatrix, reduceMatrix, reduceMatrix, setCov, setV, toString |
Methods inherited from class java.lang.Object |
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
private static final long serialVersionUID
Constructor Detail |
public Rotation_3D()
public Rotation_3D(double omega, double phi, double kappa)
omega
- angle around x-Axis, given in radiansphi
- angle around y-Axis, given in radianskappa
- angle around z-Axis, given in radianspublic Rotation_3D(double omega, double phi, double kappa, Matrix cov)
omega
- angle around x-Axis, given in radiansphi
- angle around y-Axis, given in radianskappa
- angle around z-Axis, given in radianscov
- 16x16 matrixpublic Rotation_3D(Vector spinAxis)
spinAxis
- - A 3x1-Vector containing the axis after RODRIGUEZ
Read more about this in Förstner, PhotoI, page 5-7public Rotation_3D(Vector spinAxis, Matrix cov)
spinAxis
- A 3x1-Vector containing the axis after RODRIGUEZ.cov
- 16x16 Matrixpublic Rotation_3D(double q0, double q1, double q2, double q3)
q0
- first parameter of quaternionq1
- second parameter of quaternionq2
- third parameter of quaternionq3
- fourth parameter of quaternionpublic Rotation_3D(double q0, double q1, double q2, double q3, Matrix cov)
q0
- first parameter of quaternionq1
- second parameter of quaternionq2
- third parameter of quaternionq3
- fourth parameter of quaternioncov
- 16x16 Matrixpublic Rotation_3D(Vector axis, double angle)
axis
- a vector with three elements (x,y,z)angle
- given in radianspublic Rotation_3D(Vector axis, double angle, Matrix cov)
axis
- a vector with three elements (x,y,z)angle
- given in radianscov
- 16x16 MatrixMethod Detail |
public int getDegreesOfFreedom()
getDegreesOfFreedom
in class Motion_3D
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