sugr
Class Rotation_2D

java.lang.Object
  extended bysugr.Element
      extended bysugr.Transformation
          extended bysugr.Homography_2D
              extended bysugr.Affinity_2D
                  extended bysugr.Motion_2D
                      extended bysugr.Rotation_2D
All Implemented Interfaces:
java.lang.Cloneable, java.io.Serializable

public class Rotation_2D
extends Motion_2D

Class containing rotation (1) constructors.

Author:
Norbert Fischer
See Also:
Serialized Form

Field Summary
private static long serialVersionUID
          Class version number for serialization
 
Fields inherited from class sugr.Homography_2D
DIM
 
Fields inherited from class sugr.Element
cov, MAXITER, v
 
Constructor Summary
Rotation_2D()
          standard rotation matrix.
Rotation_2D(double angle)
          Creates a rotation matrix which rotates around angle
Rotation_2D(double a, double b)
          set rotation matrix by hand. the matrix has then following form: |a -b 0| |b a 0| |0 0 1|
Rotation_2D(double a, double b, Matrix cov)
          set rotation matrix with covariance by hand. the matrix has then following form: |a -b 0| |b a 0| |0 0 1|
Rotation_2D(double angle, Matrix cov)
          Creates a rotation matrix which rotates around angle
 
Method Summary
 int getDegreesOfFreedom()
          Returns the number of elements to specify this transformation
 
Methods inherited from class sugr.Homography_2D
doCondition, getDimCol, getDimRow, getJacobianAfterFirst, getJacobianAfterSecond, transform
 
Methods inherited from class sugr.Transformation
errorProp, getDimension, getJacobianOfRelation, getReducedAB, getTransformationMatrix, getTransposeTransMatrix, transform
 
Methods inherited from class sugr.Element
approximate, calcCov, changeNullspace, changeNullspace, checkCovDim, checkElement, clone, ensureConstraints, estimate, estimate, gaussHelmertIterations, gaussHelmertIterationsOld, getConstraintValue, getCov, getJacobianOfConstraint, 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

serialVersionUID

private static final long serialVersionUID
Class version number for serialization

See Also:
Constant Field Values
Constructor Detail

Rotation_2D

public Rotation_2D()
standard rotation matrix. Creates an identity matrix


Rotation_2D

public Rotation_2D(double angle)
Creates a rotation matrix which rotates around angle

Parameters:
angle - angle to rotate, given in radians

Rotation_2D

public Rotation_2D(double angle,
                   Matrix cov)
Creates a rotation matrix which rotates around angle

Parameters:
angle - angle to rotate, given in radians
cov - 9x9 Matrix

Rotation_2D

public Rotation_2D(double a,
                   double b)
set rotation matrix by hand. the matrix has then following form:
      |a -b 0|
      |b  a 0|
      |0  0 1|
 

Parameters:
a - equivalent to cos(angle)
b - equivalent to sin(angle)

Rotation_2D

public Rotation_2D(double a,
                   double b,
                   Matrix cov)
set rotation matrix with covariance by hand. the matrix has then following form:
      |a -b 0|
      |b  a 0|
      |0  0 1|
 

Parameters:
a - equivalent to cos(angle)
b - equivalent to sin(angle)
cov - 9x9 matrix
Method Detail

getDegreesOfFreedom

public int getDegreesOfFreedom()
Returns the number of elements to specify this transformation

Overrides:
getDegreesOfFreedom in class Motion_2D