Package util

Class TransformNR

java.lang.Object
util.TransformNR
public class TransformNR extends Object
The Class TransformNR.

  • Constructor Details

    • TransformNR

      public TransformNR(double[] cartesianSpaceVector, double[][] rotationMatrix)
      Instantiates a new transform nr.
      Parameters:
      cartesianSpaceVector - the cartesian space vector
      rotationMatrix - the rotation matrix

    • TransformNR

      public TransformNR(double x, double y, double z, Quaternion q)
      Instantiates a new transform nr.
      Parameters:
      x - the x
      y - the y
      z - the z
      q - the q

    • TransformNR

      public TransformNR(double[] cartesianSpaceVector, Quaternion q)
      Instantiates a new transform nr.
      Parameters:
      cartesianSpaceVector - the cartesian space vector
      q - the q

    • TransformNR

      public TransformNR()
      Instantiates a new transform nr.

  • Method Details

    • getMatrixString

      public static String getMatrixString(Matrix3D matrix)
      Gets the matrix string.
      Parameters:
      matrix - the matrix
      Returns:
      the matrix string

    • getX

      public double getX()
      Gets the x.
      Returns:
      the x

    • setX

      public TransformNR setX(double translation)
      Sets the x.
      Parameters:
      translation - the new x

    • getY

      public double getY()
      Gets the y.
      Returns:
      the y

    • setY

      public TransformNR setY(double translation)
      Sets the y.
      Parameters:
      translation - the new y

    • getZ

      public double getZ()
      Gets the z.
      Returns:
      the z

    • setZ

      public TransformNR setZ(double translation)
      Sets the z.
      Parameters:
      translation - the new z

    • getRotationMatrixArray

      public double[][] getRotationMatrixArray()
      Gets the rotation matrix array.
      Returns:
      the rotation matrix array

    • getRotationMatrix

      public Quaternion getRotationMatrix()
      Gets the rotation matrix.
      Returns:
      the rotation matrix

    • getRotation

      public Quaternion getRotation()
      Gets the rotation.
      Returns:
      the rotation

    • setRotation

      public void setRotation(Quaternion rotation)
      Sets the rotation.
      Parameters:
      rotation - the new rotation

    • toString

      public String toString()
      Overrides:
      toString in class Object
      See Also:

    • getPositionArray

      public double[] getPositionArray()
      Gets the position array.
      Returns:
      the position array

    • getTransformationMatrix

      public Matrix3D getTransformationMatrix()
      Gets the matrix transform.
      Returns:
      the matrix transform