Author: luc
Date: Tue Feb 19 15:07:04 2013
New Revision: 1447753
URL: http://svn.apache.org/r1447753
Log:
Added a conversion from RotationDS to Rotation.
Modified:
commons/proper/math/trunk/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDS.java
commons/proper/math/trunk/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDSTest.java
Modified:
commons/proper/math/trunk/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDS.java
URL:
http://svn.apache.org/viewvc/commons/proper/math/trunk/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDS.java?rev=1447753&r1=1447752&r2=1447753&view=diff
==============================================================================
---
commons/proper/math/trunk/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDS.java
(original)
+++
commons/proper/math/trunk/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDS.java
Tue Feb 19 15:07:04 2013
@@ -786,6 +786,13 @@ public class RotationDS implements Seria
}
+ /** 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.
* @param u vector to apply the rotation to
* @return a new vector which is the image of u by the rotation
Modified:
commons/proper/math/trunk/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDSTest.java
URL:
http://svn.apache.org/viewvc/commons/proper/math/trunk/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDSTest.java?rev=1447753&r1=1447752&r2=1447753&view=diff
==============================================================================
---
commons/proper/math/trunk/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDSTest.java
(original)
+++
commons/proper/math/trunk/src/test/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDSTest.java
Tue Feb 19 15:07:04 2013
@@ -486,11 +486,7 @@ public class RotationDSTest {
RotationDS r1 = new RotationDS(createVector(2, -3, 5),
createAngle(1.7));
RotationDS r2 = new RotationDS(createVector(-1, 3, 2),
createAngle(0.3));
RotationDS r3 = r2.applyTo(r1);
- RotationDS r3Double = r2.applyTo(new Rotation(r1.getQ0().getValue(),
- r1.getQ1().getValue(),
- r1.getQ2().getValue(),
- r1.getQ3().getValue(),
- false));
+ RotationDS r3Double = r2.applyTo(r1.toRotation());
for (double x = -0.9; x < 0.9; x += 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 r2 = new RotationDS(createVector(-1, 3, 2),
createAngle(0.3));
RotationDS r3 = r2.applyInverseTo(r1);
- RotationDS r3Double = r2.applyInverseTo(new
Rotation(r1.getQ0().getValue(),
-
r1.getQ1().getValue(),
-
r1.getQ2().getValue(),
-
r1.getQ3().getValue(),
- false));
+ RotationDS r3Double = r2.applyInverseTo(r1.toRotation());
for (double x = -0.9; x < 0.9; x += 0.2) {
for (double y = -0.9; y < 0.9; y += 0.2) {
