You are viewing a plain text version of this content. The canonical link for it is here.
Posted to commits@commons.apache.org by lu...@apache.org on 2013/02/24 20:13:17 UTC
svn commit: r1449529 [2/5] - in /commons/proper/math/trunk/src: changes/
main/java/org/apache/commons/math3/
main/java/org/apache/commons/math3/analysis/differentiation/
main/java/org/apache/commons/math3/dfp/
main/java/org/apache/commons/math3/geometr...
Copied: commons/proper/math/trunk/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotation.java (from r1449528, 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/FieldRotation.java?p2=commons/proper/math/trunk/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotation.java&p1=commons/proper/math/trunk/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/RotationDS.java&r1=1449528&r2=1449529&rev=1449529&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/FieldRotation.java Sun Feb 24 19:13:17 2013
@@ -19,8 +19,8 @@ package org.apache.commons.math3.geometr
import java.io.Serializable;
+import org.apache.commons.math3.ExtendedFieldElement;
import org.apache.commons.math3.Field;
-import org.apache.commons.math3.analysis.differentiation.DerivativeStructure;
import org.apache.commons.math3.exception.MathArithmeticException;
import org.apache.commons.math3.exception.MathIllegalArgumentException;
import org.apache.commons.math3.exception.util.LocalizedFormats;
@@ -28,31 +28,32 @@ import org.apache.commons.math3.util.Fas
import org.apache.commons.math3.util.MathArrays;
/**
- * This class is a re-implementation of {@link Rotation} using {@link DerivativeStructure}.
+ * This class is a re-implementation of {@link Rotation} using {@link ExtendedFieldElement}.
* <p>Instance of this class are guaranteed to be immutable.</p>
*
+ * @param <T> the type of the field elements
* @version $Id$
* @see Vector3DDSDS
* @see RotationOrder
* @since 3.2
*/
-public class RotationDS implements Serializable {
+public class FieldRotation<T extends ExtendedFieldElement<T>> implements Serializable {
/** Serializable version identifier */
- private static final long serialVersionUID = 20130215l;
+ private static final long serialVersionUID = 20130224l;
/** Scalar coordinate of the quaternion. */
- private final DerivativeStructure q0;
+ private final T q0;
/** First coordinate of the vectorial part of the quaternion. */
- private final DerivativeStructure q1;
+ private final T q1;
/** Second coordinate of the vectorial part of the quaternion. */
- private final DerivativeStructure q2;
+ private final T q2;
/** Third coordinate of the vectorial part of the quaternion. */
- private final DerivativeStructure q3;
+ private final T q3;
/** Build a rotation from the quaternion coordinates.
* <p>A rotation can be built from a <em>normalized</em> quaternion,
@@ -72,13 +73,11 @@ public class RotationDS implements Seria
* not to be normalized, a normalization preprocessing step is performed
* before using them
*/
- public RotationDS(final DerivativeStructure q0, final DerivativeStructure q1,
- final DerivativeStructure q2, final DerivativeStructure q3,
- final boolean needsNormalization) {
+ public FieldRotation(final T q0, final T q1, final T q2, final T q3, final boolean needsNormalization) {
if (needsNormalization) {
// normalization preprocessing
- final DerivativeStructure inv =
+ final T inv =
q0.multiply(q0).add(q1.multiply(q1)).add(q2.multiply(q2)).add(q3.multiply(q3)).sqrt().reciprocal();
this.q0 = inv.multiply(q0);
this.q1 = inv.multiply(q1);
@@ -98,7 +97,7 @@ public class RotationDS implements Seria
* the effect of the rotation on vectors around the axis. That means
* that if (i, j, k) is a direct frame and if we first provide +k as
* the axis and π/2 as the angle to this constructor, and then
- * {@link #applyTo(Vector3DDS) apply} the instance to +i, we will get
+ * {@link #applyTo(FieldVector3D) apply} the instance to +i, we will get
* +j.</p>
* <p>Another way to represent our convention is to say that a rotation
* of angle θ about the unit vector (x, y, z) is the same as the
@@ -114,16 +113,16 @@ public class RotationDS implements Seria
* @param angle rotation angle.
* @exception MathIllegalArgumentException if the axis norm is zero
*/
- public RotationDS(final Vector3DDS axis, final DerivativeStructure angle)
+ public FieldRotation(final FieldVector3D<T> axis, final T angle)
throws MathIllegalArgumentException {
- final DerivativeStructure norm = axis.getNorm();
- if (norm.getValue() == 0) {
+ final T norm = axis.getNorm();
+ if (norm.getReal() == 0) {
throw new MathIllegalArgumentException(LocalizedFormats.ZERO_NORM_FOR_ROTATION_AXIS);
}
- final DerivativeStructure halfAngle = angle.multiply(-0.5);
- final DerivativeStructure coeff = halfAngle.sin().divide(norm);
+ final T halfAngle = angle.multiply(-0.5);
+ final T coeff = halfAngle.sin().divide(norm);
q0 = halfAngle.cos();
q1 = coeff.multiply(axis.getX());
@@ -162,7 +161,7 @@ public class RotationDS implements Seria
* orthogonal matrix is negative
*/
- public RotationDS(final DerivativeStructure[][] m, final double threshold)
+ public FieldRotation(final T[][] m, final double threshold)
throws NotARotationMatrixException {
// dimension check
@@ -174,21 +173,21 @@ public class RotationDS implements Seria
}
// compute a "close" orthogonal matrix
- final DerivativeStructure[][] ort = orthogonalizeMatrix(m, threshold);
+ final T[][] ort = orthogonalizeMatrix(m, threshold);
// check the sign of the determinant
- final DerivativeStructure d0 = ort[1][1].multiply(ort[2][2]).subtract(ort[2][1].multiply(ort[1][2]));
- final DerivativeStructure d1 = ort[0][1].multiply(ort[2][2]).subtract(ort[2][1].multiply(ort[0][2]));
- final DerivativeStructure d2 = ort[0][1].multiply(ort[1][2]).subtract(ort[1][1].multiply(ort[0][2]));
- final DerivativeStructure det =
+ final T d0 = ort[1][1].multiply(ort[2][2]).subtract(ort[2][1].multiply(ort[1][2]));
+ final T d1 = ort[0][1].multiply(ort[2][2]).subtract(ort[2][1].multiply(ort[0][2]));
+ final T d2 = ort[0][1].multiply(ort[1][2]).subtract(ort[1][1].multiply(ort[0][2]));
+ final T det =
ort[0][0].multiply(d0).subtract(ort[1][0].multiply(d1)).add(ort[2][0].multiply(d2));
- if (det.getValue() < 0.0) {
+ if (det.getReal() < 0.0) {
throw new NotARotationMatrixException(
LocalizedFormats.CLOSEST_ORTHOGONAL_MATRIX_HAS_NEGATIVE_DETERMINANT,
det);
}
- final DerivativeStructure[] quat = mat2quat(ort);
+ final T[] quat = mat2quat(ort);
q0 = quat[0];
q1 = quat[1];
q2 = quat[2];
@@ -215,41 +214,34 @@ public class RotationDS implements Seria
* @exception MathArithmeticException if the norm of one of the vectors is zero,
* or if one of the pair is degenerated (i.e. the vectors of the pair are colinear)
*/
- public RotationDS(Vector3DDS u1, Vector3DDS u2, Vector3DDS v1, Vector3DDS v2)
+ public FieldRotation(FieldVector3D<T> u1, FieldVector3D<T> u2, FieldVector3D<T> v1, FieldVector3D<T> v2)
throws MathArithmeticException {
// build orthonormalized base from u1, u2
// this fails when vectors are null or colinear, which is forbidden to define a rotation
- final Vector3DDS u3 = u1.crossProduct(u2).normalize();
+ final FieldVector3D<T> u3 = u1.crossProduct(u2).normalize();
u2 = u3.crossProduct(u1).normalize();
u1 = u1.normalize();
// build an orthonormalized base from v1, v2
// this fails when vectors are null or colinear, which is forbidden to define a rotation
- final Vector3DDS v3 = v1.crossProduct(v2).normalize();
+ final FieldVector3D<T> v3 = v1.crossProduct(v2).normalize();
v2 = v3.crossProduct(v1).normalize();
v1 = v1.normalize();
// buid a matrix transforming the first base into the second one
- final DerivativeStructure[][] m = new DerivativeStructure[][] {
- {
- MathArrays.linearCombination(u1.getX(), v1.getX(), u2.getX(), v2.getX(), u3.getX(), v3.getX()),
- MathArrays.linearCombination(u1.getY(), v1.getX(), u2.getY(), v2.getX(), u3.getY(), v3.getX()),
- MathArrays.linearCombination(u1.getZ(), v1.getX(), u2.getZ(), v2.getX(), u3.getZ(), v3.getX())
- },
- {
- MathArrays.linearCombination(u1.getX(), v1.getY(), u2.getX(), v2.getY(), u3.getX(), v3.getY()),
- MathArrays.linearCombination(u1.getY(), v1.getY(), u2.getY(), v2.getY(), u3.getY(), v3.getY()),
- MathArrays.linearCombination(u1.getZ(), v1.getY(), u2.getZ(), v2.getY(), u3.getZ(), v3.getY())
- },
- {
- MathArrays.linearCombination(u1.getX(), v1.getZ(), u2.getX(), v2.getZ(), u3.getX(), v3.getZ()),
- MathArrays.linearCombination(u1.getY(), v1.getZ(), u2.getY(), v2.getZ(), u3.getY(), v3.getZ()),
- MathArrays.linearCombination(u1.getZ(), v1.getZ(), u2.getZ(), v2.getZ(), u3.getZ(), v3.getZ())
- }
- };
+ final T[][] array = MathArrays.buildArray(u1.getX().getField(), 3, 3);
+ array[0][0] = u1.getX().multiply(v1.getX()).add(u2.getX().multiply(v2.getX())).add(u3.getX().multiply(v3.getX()));
+ array[0][1] = u1.getY().multiply(v1.getX()).add(u2.getY().multiply(v2.getX())).add(u3.getY().multiply(v3.getX()));
+ array[0][2] = u1.getZ().multiply(v1.getX()).add(u2.getZ().multiply(v2.getX())).add(u3.getZ().multiply(v3.getX()));
+ array[1][0] = u1.getX().multiply(v1.getY()).add(u2.getX().multiply(v2.getY())).add(u3.getX().multiply(v3.getY()));
+ array[1][1] = u1.getY().multiply(v1.getY()).add(u2.getY().multiply(v2.getY())).add(u3.getY().multiply(v3.getY()));
+ array[1][2] = u1.getZ().multiply(v1.getY()).add(u2.getZ().multiply(v2.getY())).add(u3.getZ().multiply(v3.getY()));
+ array[2][0] = u1.getX().multiply(v1.getZ()).add(u2.getX().multiply(v2.getZ())).add(u3.getX().multiply(v3.getZ()));
+ array[2][1] = u1.getY().multiply(v1.getZ()).add(u2.getY().multiply(v2.getZ())).add(u3.getY().multiply(v3.getZ()));
+ array[2][2] = u1.getZ().multiply(v1.getZ()).add(u2.getZ().multiply(v2.getZ())).add(u3.getZ().multiply(v3.getZ()));
- DerivativeStructure[] quat = mat2quat(m);
+ T[] quat = mat2quat(array);
q0 = quat[0];
q1 = quat[1];
q2 = quat[2];
@@ -270,19 +262,19 @@ public class RotationDS implements Seria
* @param v desired image of u by the rotation
* @exception MathArithmeticException if the norm of one of the vectors is zero
*/
- public RotationDS(final Vector3DDS u, final Vector3DDS v) throws MathArithmeticException {
+ public FieldRotation(final FieldVector3D<T> u, final FieldVector3D<T> v) throws MathArithmeticException {
- final DerivativeStructure normProduct = u.getNorm().multiply(v.getNorm());
- if (normProduct.getValue() == 0) {
+ final T normProduct = u.getNorm().multiply(v.getNorm());
+ if (normProduct.getReal() == 0) {
throw new MathArithmeticException(LocalizedFormats.ZERO_NORM_FOR_ROTATION_DEFINING_VECTOR);
}
- final DerivativeStructure dot = u.dotProduct(v);
+ final T dot = u.dotProduct(v);
- if (dot.getValue() < ((2.0e-15 - 1.0) * normProduct.getValue())) {
+ if (dot.getReal() < ((2.0e-15 - 1.0) * normProduct.getReal())) {
// special case u = -v: we select a PI angle rotation around
// an arbitrary vector orthogonal to u
- final Vector3DDS w = u.orthogonal();
+ final FieldVector3D<T> w = u.orthogonal();
q0 = normProduct.getField().getZero();
q1 = w.getX().negate();
q2 = w.getY().negate();
@@ -291,8 +283,8 @@ public class RotationDS implements Seria
// general case: (u, v) defines a plane, we select
// the shortest possible rotation: axis orthogonal to this plane
q0 = dot.divide(normProduct).add(1.0).multiply(0.5).sqrt();
- final DerivativeStructure coeff = q0.multiply(normProduct).multiply(2.0).reciprocal();
- final Vector3DDS q = v.crossProduct(u);
+ final T coeff = q0.multiply(normProduct).multiply(2.0).reciprocal();
+ final FieldVector3D<T> q = v.crossProduct(u);
q1 = coeff.multiply(q.getX());
q2 = coeff.multiply(q.getY());
q3 = coeff.multiply(q.getZ());
@@ -319,26 +311,12 @@ public class RotationDS implements Seria
* @param alpha2 angle of the second elementary rotation
* @param alpha3 angle of the third elementary rotation
*/
- public RotationDS(final RotationOrder order, final DerivativeStructure alpha1,
- final DerivativeStructure alpha2, final DerivativeStructure alpha3) {
- final int p = alpha1.getFreeParameters();
- final int o = alpha1.getOrder();
- final RotationDS r1 =
- new RotationDS(new Vector3DDS(new DerivativeStructure(p, o, order.getA1().getX()),
- new DerivativeStructure(p, o, order.getA1().getY()),
- new DerivativeStructure(p, o, order.getA1().getZ())),
- alpha1);
- final RotationDS r2 =
- new RotationDS(new Vector3DDS(new DerivativeStructure(p, o, order.getA2().getX()),
- new DerivativeStructure(p, o, order.getA2().getY()),
- new DerivativeStructure(p, o, order.getA2().getZ())),
- alpha2);
- final RotationDS r3 =
- new RotationDS(new Vector3DDS(new DerivativeStructure(p, o, order.getA3().getX()),
- new DerivativeStructure(p, o, order.getA3().getY()),
- new DerivativeStructure(p, o, order.getA3().getZ())),
- alpha3);
- final RotationDS composed = r1.applyTo(r2.applyTo(r3));
+ public FieldRotation(final RotationOrder order, final T alpha1, final T alpha2, final T alpha3) {
+ final T one = alpha1.getField().getOne();
+ final FieldRotation<T> r1 = new FieldRotation<T>(new FieldVector3D<T>(one, order.getA1()), alpha1);
+ final FieldRotation<T> r2 = new FieldRotation<T>(new FieldVector3D<T>(one, order.getA2()), alpha2);
+ final FieldRotation<T> r3 = new FieldRotation<T>(new FieldVector3D<T>(one, order.getA3()), alpha3);
+ final FieldRotation<T> composed = r1.applyTo(r2.applyTo(r3));
q0 = composed.q0;
q1 = composed.q1;
q2 = composed.q2;
@@ -349,9 +327,9 @@ public class RotationDS implements Seria
* @param ort orthogonal rotation matrix
* @return quaternion corresponding to the matrix
*/
- private static DerivativeStructure[] mat2quat(final DerivativeStructure[][] ort) {
+ private T[] mat2quat(final T[][] ort) {
- final DerivativeStructure[] quat = new DerivativeStructure[4];
+ final T[] quat = MathArrays.buildArray(ort[0][0].getField(), 4);
// There are different ways to compute the quaternions elements
// from the matrix. They all involve computing one element from
@@ -364,29 +342,29 @@ public class RotationDS implements Seria
// numerical inaccuracy. Checking the elements in turn and using
// the first one greater than 0.45 is safe (this leads to a simple
// test since qi = 0.45 implies 4 qi^2 - 1 = -0.19)
- DerivativeStructure s = ort[0][0].add(ort[1][1]).add(ort[2][2]);
- if (s.getValue() > -0.19) {
+ T s = ort[0][0].add(ort[1][1]).add(ort[2][2]);
+ if (s.getReal() > -0.19) {
// compute q0 and deduce q1, q2 and q3
quat[0] = s.add(1.0).sqrt().multiply(0.5);
- DerivativeStructure inv = quat[0].reciprocal().multiply(0.25);
+ T inv = quat[0].reciprocal().multiply(0.25);
quat[1] = inv.multiply(ort[1][2].subtract(ort[2][1]));
quat[2] = inv.multiply(ort[2][0].subtract(ort[0][2]));
quat[3] = inv.multiply(ort[0][1].subtract(ort[1][0]));
} else {
s = ort[0][0].subtract(ort[1][1]).subtract(ort[2][2]);
- if (s.getValue() > -0.19) {
+ if (s.getReal() > -0.19) {
// compute q1 and deduce q0, q2 and q3
quat[1] = s.add(1.0).sqrt().multiply(0.5);
- DerivativeStructure inv = quat[1].reciprocal().multiply(0.25);
+ T inv = quat[1].reciprocal().multiply(0.25);
quat[0] = inv.multiply(ort[1][2].subtract(ort[2][1]));
quat[2] = inv.multiply(ort[0][1].add(ort[1][0]));
quat[3] = inv.multiply(ort[0][2].add(ort[2][0]));
} else {
s = ort[1][1].subtract(ort[0][0]).subtract(ort[2][2]);
- if (s.getValue() > -0.19) {
+ if (s.getReal() > -0.19) {
// compute q2 and deduce q0, q1 and q3
quat[2] = s.add(1.0).sqrt().multiply(0.5);
- DerivativeStructure inv = quat[2].reciprocal().multiply(0.25);
+ T inv = quat[2].reciprocal().multiply(0.25);
quat[0] = inv.multiply(ort[2][0].subtract(ort[0][2]));
quat[1] = inv.multiply(ort[0][1].add(ort[1][0]));
quat[3] = inv.multiply(ort[2][1].add(ort[1][2]));
@@ -394,7 +372,7 @@ public class RotationDS implements Seria
// compute q3 and deduce q0, q1 and q2
s = ort[2][2].subtract(ort[0][0]).subtract(ort[1][1]);
quat[3] = s.add(1.0).sqrt().multiply(0.5);
- DerivativeStructure inv = quat[3].reciprocal().multiply(0.25);
+ T inv = quat[3].reciprocal().multiply(0.25);
quat[0] = inv.multiply(ort[0][1].subtract(ort[1][0]));
quat[1] = inv.multiply(ort[0][2].add(ort[2][0]));
quat[2] = inv.multiply(ort[2][1].add(ort[1][2]));
@@ -413,63 +391,63 @@ public class RotationDS implements Seria
* @return a new rotation whose effect is the reverse of the effect
* of the instance
*/
- public RotationDS revert() {
- return new RotationDS(q0.negate(), q1, q2, q3, false);
+ public FieldRotation<T> revert() {
+ return new FieldRotation<T>(q0.negate(), q1, q2, q3, false);
}
/** Get the scalar coordinate of the quaternion.
* @return scalar coordinate of the quaternion
*/
- public DerivativeStructure getQ0() {
+ public T getQ0() {
return q0;
}
/** Get the first coordinate of the vectorial part of the quaternion.
* @return first coordinate of the vectorial part of the quaternion
*/
- public DerivativeStructure getQ1() {
+ public T getQ1() {
return q1;
}
/** Get the second coordinate of the vectorial part of the quaternion.
* @return second coordinate of the vectorial part of the quaternion
*/
- public DerivativeStructure getQ2() {
+ public T getQ2() {
return q2;
}
/** Get the third coordinate of the vectorial part of the quaternion.
* @return third coordinate of the vectorial part of the quaternion
*/
- public DerivativeStructure getQ3() {
+ public T getQ3() {
return q3;
}
/** Get the normalized axis of the rotation.
* @return normalized axis of the rotation
- * @see #Rotation(Vector3DDS, DerivativeStructure)
+ * @see #Rotation(FieldVector3D, T)
*/
- public Vector3DDS getAxis() {
- final DerivativeStructure squaredSine = q1.multiply(q1).add(q2.multiply(q2)).add(q3.multiply(q3));
- if (squaredSine.getValue() == 0) {
- final Field<DerivativeStructure> field = squaredSine.getField();
- return new Vector3DDS(field.getOne(), field.getZero(), field.getZero());
- } else if (q0.getValue() < 0) {
- DerivativeStructure inverse = squaredSine.sqrt().reciprocal();
- return new Vector3DDS(q1.multiply(inverse), q2.multiply(inverse), q3.multiply(inverse));
+ public FieldVector3D<T> getAxis() {
+ final T squaredSine = q1.multiply(q1).add(q2.multiply(q2)).add(q3.multiply(q3));
+ if (squaredSine.getReal() == 0) {
+ final Field<T> field = squaredSine.getField();
+ return new FieldVector3D<T>(field.getOne(), field.getZero(), field.getZero());
+ } else if (q0.getReal() < 0) {
+ T inverse = squaredSine.sqrt().reciprocal();
+ return new FieldVector3D<T>(q1.multiply(inverse), q2.multiply(inverse), q3.multiply(inverse));
}
- final DerivativeStructure inverse = squaredSine.sqrt().reciprocal().negate();
- return new Vector3DDS(q1.multiply(inverse), q2.multiply(inverse), q3.multiply(inverse));
+ final T inverse = squaredSine.sqrt().reciprocal().negate();
+ return new FieldVector3D<T>(q1.multiply(inverse), q2.multiply(inverse), q3.multiply(inverse));
}
/** Get the angle of the rotation.
* @return angle of the rotation (between 0 and π)
- * @see #Rotation(Vector3DDS, DerivativeStructure)
+ * @see #Rotation(FieldVector3D, T)
*/
- public DerivativeStructure getAngle() {
- if ((q0.getValue() < -0.1) || (q0.getValue() > 0.1)) {
+ public T getAngle() {
+ if ((q0.getReal() < -0.1) || (q0.getReal() > 0.1)) {
return q1.multiply(q1).add(q2.multiply(q2)).add(q3.multiply(q3)).sqrt().asin().multiply(2);
- } else if (q0.getValue() < 0) {
+ } else if (q0.getReal() < 0) {
return q0.negate().acos().multiply(2);
}
return q0.acos().multiply(2);
@@ -510,7 +488,7 @@ public class RotationDS implements Seria
* @exception CardanEulerSingularityException if the rotation is
* singular with respect to the angles set specified
*/
- public DerivativeStructure[] getAngles(final RotationOrder order)
+ public T[] getAngles(final RotationOrder order)
throws CardanEulerSingularityException {
if (order == RotationOrder.XYZ) {
@@ -520,16 +498,14 @@ public class RotationDS implements Seria
// (-r) (+I) coordinates are :
// cos (psi) cos (theta), -sin (psi) cos (theta), sin (theta)
final // and we can choose to have theta in the interval [-PI/2 ; +PI/2]
- Vector3DDS v1 = applyTo(vector(0, 0, 1));
- final Vector3DDS v2 = applyInverseTo(vector(1, 0, 0));
- if ((v2.getZ().getValue() < -0.9999999999) || (v2.getZ().getValue() > 0.9999999999)) {
+ FieldVector3D<T> v1 = applyTo(vector(0, 0, 1));
+ final FieldVector3D<T> v2 = applyInverseTo(vector(1, 0, 0));
+ if ((v2.getZ().getReal() < -0.9999999999) || (v2.getZ().getReal() > 0.9999999999)) {
throw new CardanEulerSingularityException(true);
}
- return new DerivativeStructure[] {
- DerivativeStructure.atan2(v1.getY().negate(), v1.getZ()),
- v2.getZ().asin(),
- DerivativeStructure.atan2(v2.getY().negate(), v2.getX())
- };
+ return buildArray(v1.getY().negate().atan2(v1.getZ()),
+ v2.getZ().asin(),
+ v2.getY().negate().atan2(v2.getX()));
} else if (order == RotationOrder.XZY) {
@@ -538,16 +514,14 @@ public class RotationDS implements Seria
// (-r) (+I) coordinates are :
// cos (theta) cos (psi), -sin (psi), sin (theta) cos (psi)
// and we can choose to have psi in the interval [-PI/2 ; +PI/2]
- final Vector3DDS v1 = applyTo(vector(0, 1, 0));
- final Vector3DDS v2 = applyInverseTo(vector(1, 0, 0));
- if ((v2.getY().getValue() < -0.9999999999) || (v2.getY().getValue() > 0.9999999999)) {
+ final FieldVector3D<T> v1 = applyTo(vector(0, 1, 0));
+ final FieldVector3D<T> v2 = applyInverseTo(vector(1, 0, 0));
+ if ((v2.getY().getReal() < -0.9999999999) || (v2.getY().getReal() > 0.9999999999)) {
throw new CardanEulerSingularityException(true);
}
- return new DerivativeStructure[] {
- DerivativeStructure.atan2(v1.getZ(), v1.getY()),
- v2.getY().asin().negate(),
- DerivativeStructure.atan2(v2.getZ(), v2.getX())
- };
+ return buildArray(v1.getZ().atan2(v1.getY()),
+ v2.getY().asin().negate(),
+ v2.getZ().atan2(v2.getX()));
} else if (order == RotationOrder.YXZ) {
@@ -556,16 +530,14 @@ public class RotationDS implements Seria
// (-r) (+J) coordinates are :
// sin (psi) cos (phi), cos (psi) cos (phi), -sin (phi)
// and we can choose to have phi in the interval [-PI/2 ; +PI/2]
- final Vector3DDS v1 = applyTo(vector(0, 0, 1));
- final Vector3DDS v2 = applyInverseTo(vector(0, 1, 0));
- if ((v2.getZ().getValue() < -0.9999999999) || (v2.getZ().getValue() > 0.9999999999)) {
+ final FieldVector3D<T> v1 = applyTo(vector(0, 0, 1));
+ final FieldVector3D<T> v2 = applyInverseTo(vector(0, 1, 0));
+ if ((v2.getZ().getReal() < -0.9999999999) || (v2.getZ().getReal() > 0.9999999999)) {
throw new CardanEulerSingularityException(true);
}
- return new DerivativeStructure[] {
- DerivativeStructure.atan2(v1.getX(), v1.getZ()),
- v2.getZ().asin().negate(),
- DerivativeStructure.atan2(v2.getX(), v2.getY())
- };
+ return buildArray(v1.getX().atan2(v1.getZ()),
+ v2.getZ().asin().negate(),
+ v2.getX().atan2(v2.getY()));
} else if (order == RotationOrder.YZX) {
@@ -574,16 +546,14 @@ public class RotationDS implements Seria
// (-r) (+J) coordinates are :
// sin (psi), cos (phi) cos (psi), -sin (phi) cos (psi)
// and we can choose to have psi in the interval [-PI/2 ; +PI/2]
- final Vector3DDS v1 = applyTo(vector(1, 0, 0));
- final Vector3DDS v2 = applyInverseTo(vector(0, 1, 0));
- if ((v2.getX().getValue() < -0.9999999999) || (v2.getX().getValue() > 0.9999999999)) {
+ final FieldVector3D<T> v1 = applyTo(vector(1, 0, 0));
+ final FieldVector3D<T> v2 = applyInverseTo(vector(0, 1, 0));
+ if ((v2.getX().getReal() < -0.9999999999) || (v2.getX().getReal() > 0.9999999999)) {
throw new CardanEulerSingularityException(true);
}
- return new DerivativeStructure[] {
- DerivativeStructure.atan2(v1.getZ().negate(), v1.getX()),
- v2.getX().asin(),
- DerivativeStructure.atan2(v2.getZ().negate(), v2.getY())
- };
+ return buildArray(v1.getZ().negate().atan2(v1.getX()),
+ v2.getX().asin(),
+ v2.getZ().negate().atan2(v2.getY()));
} else if (order == RotationOrder.ZXY) {
@@ -592,16 +562,14 @@ public class RotationDS implements Seria
// (-r) (+K) coordinates are :
// -sin (theta) cos (phi), sin (phi), cos (theta) cos (phi)
// and we can choose to have phi in the interval [-PI/2 ; +PI/2]
- final Vector3DDS v1 = applyTo(vector(0, 1, 0));
- final Vector3DDS v2 = applyInverseTo(vector(0, 0, 1));
- if ((v2.getY().getValue() < -0.9999999999) || (v2.getY().getValue() > 0.9999999999)) {
+ final FieldVector3D<T> v1 = applyTo(vector(0, 1, 0));
+ final FieldVector3D<T> v2 = applyInverseTo(vector(0, 0, 1));
+ if ((v2.getY().getReal() < -0.9999999999) || (v2.getY().getReal() > 0.9999999999)) {
throw new CardanEulerSingularityException(true);
}
- return new DerivativeStructure[] {
- DerivativeStructure.atan2(v1.getX().negate(), v1.getY()),
- v2.getY().asin(),
- DerivativeStructure.atan2(v2.getX().negate(), v2.getZ())
- };
+ return buildArray(v1.getX().negate().atan2(v1.getY()),
+ v2.getY().asin(),
+ v2.getX().negate().atan2(v2.getZ()));
} else if (order == RotationOrder.ZYX) {
@@ -610,16 +578,14 @@ public class RotationDS implements Seria
// (-r) (+K) coordinates are :
// -sin (theta), sin (phi) cos (theta), cos (phi) cos (theta)
// and we can choose to have theta in the interval [-PI/2 ; +PI/2]
- final Vector3DDS v1 = applyTo(vector(1, 0, 0));
- final Vector3DDS v2 = applyInverseTo(vector(0, 0, 1));
- if ((v2.getX().getValue() < -0.9999999999) || (v2.getX().getValue() > 0.9999999999)) {
+ final FieldVector3D<T> v1 = applyTo(vector(1, 0, 0));
+ final FieldVector3D<T> v2 = applyInverseTo(vector(0, 0, 1));
+ if ((v2.getX().getReal() < -0.9999999999) || (v2.getX().getReal() > 0.9999999999)) {
throw new CardanEulerSingularityException(true);
}
- return new DerivativeStructure[] {
- DerivativeStructure.atan2(v1.getY(), v1.getX()),
- v2.getX().asin().negate(),
- DerivativeStructure.atan2(v2.getY(), v2.getZ())
- };
+ return buildArray(v1.getY().atan2(v1.getX()),
+ v2.getX().asin().negate(),
+ v2.getY().atan2(v2.getZ()));
} else if (order == RotationOrder.XYX) {
@@ -628,16 +594,14 @@ public class RotationDS implements Seria
// (-r) (+I) coordinates are :
// cos (theta), sin (theta) sin (phi2), sin (theta) cos (phi2)
// and we can choose to have theta in the interval [0 ; PI]
- final Vector3DDS v1 = applyTo(vector(1, 0, 0));
- final Vector3DDS v2 = applyInverseTo(vector(1, 0, 0));
- if ((v2.getX().getValue() < -0.9999999999) || (v2.getX().getValue() > 0.9999999999)) {
+ final FieldVector3D<T> v1 = applyTo(vector(1, 0, 0));
+ final FieldVector3D<T> v2 = applyInverseTo(vector(1, 0, 0));
+ if ((v2.getX().getReal() < -0.9999999999) || (v2.getX().getReal() > 0.9999999999)) {
throw new CardanEulerSingularityException(false);
}
- return new DerivativeStructure[] {
- DerivativeStructure.atan2(v1.getY(), v1.getZ().negate()),
- v2.getX().acos(),
- DerivativeStructure.atan2(v2.getY(), v2.getZ())
- };
+ return buildArray(v1.getY().atan2(v1.getZ().negate()),
+ v2.getX().acos(),
+ v2.getY().atan2(v2.getZ()));
} else if (order == RotationOrder.XZX) {
@@ -646,16 +610,14 @@ public class RotationDS implements Seria
// (-r) (+I) coordinates are :
// cos (psi), -sin (psi) cos (phi2), sin (psi) sin (phi2)
// and we can choose to have psi in the interval [0 ; PI]
- final Vector3DDS v1 = applyTo(vector(1, 0, 0));
- final Vector3DDS v2 = applyInverseTo(vector(1, 0, 0));
- if ((v2.getX().getValue() < -0.9999999999) || (v2.getX().getValue() > 0.9999999999)) {
+ final FieldVector3D<T> v1 = applyTo(vector(1, 0, 0));
+ final FieldVector3D<T> v2 = applyInverseTo(vector(1, 0, 0));
+ if ((v2.getX().getReal() < -0.9999999999) || (v2.getX().getReal() > 0.9999999999)) {
throw new CardanEulerSingularityException(false);
}
- return new DerivativeStructure[] {
- DerivativeStructure.atan2(v1.getZ(), v1.getY()),
- v2.getX().acos(),
- DerivativeStructure.atan2(v2.getZ(), v2.getY().negate())
- };
+ return buildArray(v1.getZ().atan2(v1.getY()),
+ v2.getX().acos(),
+ v2.getZ().atan2(v2.getY().negate()));
} else if (order == RotationOrder.YXY) {
@@ -664,16 +626,14 @@ public class RotationDS implements Seria
// (-r) (+J) coordinates are :
// sin (phi) sin (theta2), cos (phi), -sin (phi) cos (theta2)
// and we can choose to have phi in the interval [0 ; PI]
- final Vector3DDS v1 = applyTo(vector(0, 1, 0));
- final Vector3DDS v2 = applyInverseTo(vector(0, 1, 0));
- if ((v2.getY().getValue() < -0.9999999999) || (v2.getY().getValue() > 0.9999999999)) {
+ final FieldVector3D<T> v1 = applyTo(vector(0, 1, 0));
+ final FieldVector3D<T> v2 = applyInverseTo(vector(0, 1, 0));
+ if ((v2.getY().getReal() < -0.9999999999) || (v2.getY().getReal() > 0.9999999999)) {
throw new CardanEulerSingularityException(false);
}
- return new DerivativeStructure[] {
- DerivativeStructure.atan2(v1.getX(), v1.getZ()),
- v2.getY().acos(),
- DerivativeStructure.atan2(v2.getX(), v2.getZ().negate())
- };
+ return buildArray(v1.getX().atan2(v1.getZ()),
+ v2.getY().acos(),
+ v2.getX().atan2(v2.getZ().negate()));
} else if (order == RotationOrder.YZY) {
@@ -682,16 +642,14 @@ public class RotationDS implements Seria
// (-r) (+J) coordinates are :
// sin (psi) cos (theta2), cos (psi), sin (psi) sin (theta2)
// and we can choose to have psi in the interval [0 ; PI]
- final Vector3DDS v1 = applyTo(vector(0, 1, 0));
- final Vector3DDS v2 = applyInverseTo(vector(0, 1, 0));
- if ((v2.getY().getValue() < -0.9999999999) || (v2.getY().getValue() > 0.9999999999)) {
+ final FieldVector3D<T> v1 = applyTo(vector(0, 1, 0));
+ final FieldVector3D<T> v2 = applyInverseTo(vector(0, 1, 0));
+ if ((v2.getY().getReal() < -0.9999999999) || (v2.getY().getReal() > 0.9999999999)) {
throw new CardanEulerSingularityException(false);
}
- return new DerivativeStructure[] {
- DerivativeStructure.atan2(v1.getZ(), v1.getX().negate()),
- v2.getY().acos(),
- DerivativeStructure.atan2(v2.getZ(), v2.getX())
- };
+ return buildArray(v1.getZ().atan2(v1.getX().negate()),
+ v2.getY().acos(),
+ v2.getZ().atan2(v2.getX()));
} else if (order == RotationOrder.ZXZ) {
@@ -700,16 +658,14 @@ public class RotationDS implements Seria
// (-r) (+K) coordinates are :
// sin (phi) sin (psi2), sin (phi) cos (psi2), cos (phi)
// and we can choose to have phi in the interval [0 ; PI]
- final Vector3DDS v1 = applyTo(vector(0, 0, 1));
- final Vector3DDS v2 = applyInverseTo(vector(0, 0, 1));
- if ((v2.getZ().getValue() < -0.9999999999) || (v2.getZ().getValue() > 0.9999999999)) {
+ final FieldVector3D<T> v1 = applyTo(vector(0, 0, 1));
+ final FieldVector3D<T> v2 = applyInverseTo(vector(0, 0, 1));
+ if ((v2.getZ().getReal() < -0.9999999999) || (v2.getZ().getReal() > 0.9999999999)) {
throw new CardanEulerSingularityException(false);
}
- return new DerivativeStructure[] {
- DerivativeStructure.atan2(v1.getX(), v1.getY().negate()),
- v2.getZ().acos(),
- DerivativeStructure.atan2(v2.getX(), v2.getY())
- };
+ return buildArray(v1.getX().atan2(v1.getY().negate()),
+ v2.getZ().acos(),
+ v2.getX().atan2(v2.getY()));
} else { // last possibility is ZYZ
@@ -718,57 +674,63 @@ public class RotationDS implements Seria
// (-r) (+K) coordinates are :
// -sin (theta) cos (psi2), sin (theta) sin (psi2), cos (theta)
// and we can choose to have theta in the interval [0 ; PI]
- final Vector3DDS v1 = applyTo(vector(0, 0, 1));
- final Vector3DDS v2 = applyInverseTo(vector(0, 0, 1));
- if ((v2.getZ().getValue() < -0.9999999999) || (v2.getZ().getValue() > 0.9999999999)) {
+ final FieldVector3D<T> v1 = applyTo(vector(0, 0, 1));
+ final FieldVector3D<T> v2 = applyInverseTo(vector(0, 0, 1));
+ if ((v2.getZ().getReal() < -0.9999999999) || (v2.getZ().getReal() > 0.9999999999)) {
throw new CardanEulerSingularityException(false);
}
- return new DerivativeStructure[] {
- DerivativeStructure.atan2(v1.getY(), v1.getX()),
- v2.getZ().acos(),
- DerivativeStructure.atan2(v2.getY(), v2.getX().negate())
- };
+ return buildArray(v1.getY().atan2(v1.getX()),
+ v2.getZ().acos(),
+ v2.getY().atan2(v2.getX().negate()));
}
}
- /** Create a constant vector with appropriate derivation parameters.
+ /** Create a dimension 3 array.
+ * @param a0 first array element
+ * @param a1 second array element
+ * @param a2 third array element
+ * @return new array
+ */
+ private T[] buildArray(final T a0, final T a1, final T a2) {
+ final T[] array = MathArrays.buildArray(a0.getField(), 3);
+ array[0] = a0;
+ array[1] = a1;
+ array[2] = a2;
+ return array;
+ }
+
+ /** Create a constant vector.
* @param x abscissa
* @param y ordinate
* @param z height
* @return a constant vector
*/
- private Vector3DDS vector(final double x, final double y, final double z) {
- final int parameters = q0.getFreeParameters();
- final int order = q0.getOrder();
- return new Vector3DDS(new DerivativeStructure(parameters, order, x),
- new DerivativeStructure(parameters, order, y),
- new DerivativeStructure(parameters, order, z));
+ private FieldVector3D<T> vector(final double x, final double y, final double z) {
+ final T zero = q0.getField().getZero();
+ return new FieldVector3D<T>(zero.add(x), zero.add(y), zero.add(z));
}
/** Get the 3X3 matrix corresponding to the instance
* @return the matrix corresponding to the instance
*/
- public DerivativeStructure[][] getMatrix() {
+ public T[][] getMatrix() {
// products
- final DerivativeStructure q0q0 = q0.multiply(q0);
- final DerivativeStructure q0q1 = q0.multiply(q1);
- final DerivativeStructure q0q2 = q0.multiply(q2);
- final DerivativeStructure q0q3 = q0.multiply(q3);
- final DerivativeStructure q1q1 = q1.multiply(q1);
- final DerivativeStructure q1q2 = q1.multiply(q2);
- final DerivativeStructure q1q3 = q1.multiply(q3);
- final DerivativeStructure q2q2 = q2.multiply(q2);
- final DerivativeStructure q2q3 = q2.multiply(q3);
- final DerivativeStructure q3q3 = q3.multiply(q3);
+ final T q0q0 = q0.multiply(q0);
+ final T q0q1 = q0.multiply(q1);
+ final T q0q2 = q0.multiply(q2);
+ final T q0q3 = q0.multiply(q3);
+ final T q1q1 = q1.multiply(q1);
+ final T q1q2 = q1.multiply(q2);
+ final T q1q3 = q1.multiply(q3);
+ final T q2q2 = q2.multiply(q2);
+ final T q2q3 = q2.multiply(q3);
+ final T q3q3 = q3.multiply(q3);
// create the matrix
- final DerivativeStructure[][] m = new DerivativeStructure[3][];
- m[0] = new DerivativeStructure[3];
- m[1] = new DerivativeStructure[3];
- m[2] = new DerivativeStructure[3];
+ final T[][] m = MathArrays.buildArray(q0.getField(), 3, 3);
m [0][0] = q0q0.add(q1q1).multiply(2).subtract(1);
m [1][0] = q1q2.subtract(q0q3).multiply(2);
@@ -790,24 +752,24 @@ public class RotationDS implements Seria
* @return a constant vector
*/
public Rotation toRotation() {
- return new Rotation(q0.getValue(), q1.getValue(), q2.getValue(), q3.getValue(), false);
+ return new Rotation(q0.getReal(), q1.getReal(), q2.getReal(), q3.getReal(), 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
*/
- public Vector3DDS applyTo(final Vector3DDS u) {
+ public FieldVector3D<T> applyTo(final FieldVector3D<T> u) {
- final DerivativeStructure x = u.getX();
- final DerivativeStructure y = u.getY();
- final DerivativeStructure z = u.getZ();
+ final T x = u.getX();
+ final T y = u.getY();
+ final T z = u.getZ();
- final DerivativeStructure s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
+ final T s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
- return new Vector3DDS(q0.multiply(x.multiply(q0).subtract(q2.multiply(z).subtract(q3.multiply(y)))).add(s.multiply(q1)).multiply(2).subtract(x),
- q0.multiply(y.multiply(q0).subtract(q3.multiply(x).subtract(q1.multiply(z)))).add(s.multiply(q2)).multiply(2).subtract(y),
- q0.multiply(z.multiply(q0).subtract(q1.multiply(y).subtract(q2.multiply(x)))).add(s.multiply(q3)).multiply(2).subtract(z));
+ return new FieldVector3D<T>(q0.multiply(x.multiply(q0).subtract(q2.multiply(z).subtract(q3.multiply(y)))).add(s.multiply(q1)).multiply(2).subtract(x),
+ q0.multiply(y.multiply(q0).subtract(q3.multiply(x).subtract(q1.multiply(z)))).add(s.multiply(q2)).multiply(2).subtract(y),
+ q0.multiply(z.multiply(q0).subtract(q1.multiply(y).subtract(q2.multiply(x)))).add(s.multiply(q3)).multiply(2).subtract(z));
}
@@ -815,17 +777,17 @@ public class RotationDS implements Seria
* @param u vector to apply the rotation to
* @return a new vector which is the image of u by the rotation
*/
- public Vector3DDS applyTo(final Vector3D u) {
+ public FieldVector3D<T> applyTo(final Vector3D u) {
final double x = u.getX();
final double y = u.getY();
final double z = u.getZ();
- final DerivativeStructure s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
+ final T s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
- return new Vector3DDS(q0.multiply(q0.multiply(x).subtract(q2.multiply(z).subtract(q3.multiply(y)))).add(s.multiply(q1)).multiply(2).subtract(x),
- q0.multiply(q0.multiply(y).subtract(q3.multiply(x).subtract(q1.multiply(z)))).add(s.multiply(q2)).multiply(2).subtract(y),
- q0.multiply(q0.multiply(z).subtract(q1.multiply(y).subtract(q2.multiply(x)))).add(s.multiply(q3)).multiply(2).subtract(z));
+ return new FieldVector3D<T>(q0.multiply(q0.multiply(x).subtract(q2.multiply(z).subtract(q3.multiply(y)))).add(s.multiply(q1)).multiply(2).subtract(x),
+ q0.multiply(q0.multiply(y).subtract(q3.multiply(x).subtract(q1.multiply(z)))).add(s.multiply(q2)).multiply(2).subtract(y),
+ q0.multiply(q0.multiply(z).subtract(q1.multiply(y).subtract(q2.multiply(x)))).add(s.multiply(q3)).multiply(2).subtract(z));
}
@@ -834,13 +796,13 @@ public class RotationDS implements Seria
* @param out an array with three items to put result to (it can be the same
* array as in)
*/
- public void applyTo(final DerivativeStructure[] in, final DerivativeStructure[] out) {
+ public void applyTo(final T[] in, final T[] out) {
- final DerivativeStructure x = in[0];
- final DerivativeStructure y = in[1];
- final DerivativeStructure z = in[2];
+ final T x = in[0];
+ final T y = in[1];
+ final T z = in[2];
- final DerivativeStructure s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
+ final T s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
out[0] = q0.multiply(x.multiply(q0).subtract(q2.multiply(z).subtract(q3.multiply(y)))).add(s.multiply(q1)).multiply(2).subtract(x);
out[1] = q0.multiply(y.multiply(q0).subtract(q3.multiply(x).subtract(q1.multiply(z)))).add(s.multiply(q2)).multiply(2).subtract(y);
@@ -852,13 +814,13 @@ public class RotationDS implements Seria
* @param in an array with three items which stores vector to rotate
* @param out an array with three items to put result to
*/
- public void applyTo(final double[] in, final DerivativeStructure[] out) {
+ public void applyTo(final double[] in, final T[] out) {
final double x = in[0];
final double y = in[1];
final double z = in[2];
- final DerivativeStructure s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
+ final T s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
out[0] = q0.multiply(q0.multiply(x).subtract(q2.multiply(z).subtract(q3.multiply(y)))).add(s.multiply(q1)).multiply(2).subtract(x);
out[1] = q0.multiply(q0.multiply(y).subtract(q3.multiply(x).subtract(q1.multiply(z)))).add(s.multiply(q2)).multiply(2).subtract(y);
@@ -871,17 +833,17 @@ public class RotationDS implements Seria
* @param u vector to apply the rotation to
* @return a new vector which is the image of u by the rotation
*/
- public static Vector3DDS applyTo(final Rotation r, final Vector3DDS u) {
+ public static <T extends ExtendedFieldElement<T>> FieldVector3D<T> applyTo(final Rotation r, final FieldVector3D<T> u) {
- final DerivativeStructure x = u.getX();
- final DerivativeStructure y = u.getY();
- final DerivativeStructure z = u.getZ();
+ final T x = u.getX();
+ final T y = u.getY();
+ final T z = u.getZ();
- final DerivativeStructure s = x.multiply(r.getQ1()).add(y.multiply(r.getQ2())).add(z.multiply(r.getQ3()));
+ final T s = x.multiply(r.getQ1()).add(y.multiply(r.getQ2())).add(z.multiply(r.getQ3()));
- return new Vector3DDS(x.multiply(r.getQ0()).subtract(z.multiply(r.getQ2()).subtract(y.multiply(r.getQ3()))).multiply(r.getQ0()).add(s.multiply(r.getQ1())).multiply(2).subtract(x),
- y.multiply(r.getQ0()).subtract(x.multiply(r.getQ3()).subtract(z.multiply(r.getQ1()))).multiply(r.getQ0()).add(s.multiply(r.getQ2())).multiply(2).subtract(y),
- z.multiply(r.getQ0()).subtract(y.multiply(r.getQ1()).subtract(x.multiply(r.getQ2()))).multiply(r.getQ0()).add(s.multiply(r.getQ3())).multiply(2).subtract(z));
+ return new FieldVector3D<T>(x.multiply(r.getQ0()).subtract(z.multiply(r.getQ2()).subtract(y.multiply(r.getQ3()))).multiply(r.getQ0()).add(s.multiply(r.getQ1())).multiply(2).subtract(x),
+ y.multiply(r.getQ0()).subtract(x.multiply(r.getQ3()).subtract(z.multiply(r.getQ1()))).multiply(r.getQ0()).add(s.multiply(r.getQ2())).multiply(2).subtract(y),
+ z.multiply(r.getQ0()).subtract(y.multiply(r.getQ1()).subtract(x.multiply(r.getQ2()))).multiply(r.getQ0()).add(s.multiply(r.getQ3())).multiply(2).subtract(z));
}
@@ -889,18 +851,18 @@ public class RotationDS implements Seria
* @param u vector to apply the inverse of the rotation to
* @return a new vector which such that u is its image by the rotation
*/
- public Vector3DDS applyInverseTo(final Vector3DDS u) {
+ public FieldVector3D<T> applyInverseTo(final FieldVector3D<T> u) {
- final DerivativeStructure x = u.getX();
- final DerivativeStructure y = u.getY();
- final DerivativeStructure z = u.getZ();
-
- final DerivativeStructure s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
- final DerivativeStructure m0 = q0.negate();
-
- return new Vector3DDS(m0.multiply(x.multiply(m0).subtract(q2.multiply(z).subtract(q3.multiply(y)))).add(s.multiply(q1)).multiply(2).subtract(x),
- m0.multiply(y.multiply(m0).subtract(q3.multiply(x).subtract(q1.multiply(z)))).add(s.multiply(q2)).multiply(2).subtract(y),
- m0.multiply(z.multiply(m0).subtract(q1.multiply(y).subtract(q2.multiply(x)))).add(s.multiply(q3)).multiply(2).subtract(z));
+ final T x = u.getX();
+ final T y = u.getY();
+ final T z = u.getZ();
+
+ final T s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
+ final T m0 = q0.negate();
+
+ return new FieldVector3D<T>(m0.multiply(x.multiply(m0).subtract(q2.multiply(z).subtract(q3.multiply(y)))).add(s.multiply(q1)).multiply(2).subtract(x),
+ m0.multiply(y.multiply(m0).subtract(q3.multiply(x).subtract(q1.multiply(z)))).add(s.multiply(q2)).multiply(2).subtract(y),
+ m0.multiply(z.multiply(m0).subtract(q1.multiply(y).subtract(q2.multiply(x)))).add(s.multiply(q3)).multiply(2).subtract(z));
}
@@ -908,18 +870,18 @@ public class RotationDS implements Seria
* @param u vector to apply the inverse of the rotation to
* @return a new vector which such that u is its image by the rotation
*/
- public Vector3DDS applyInverseTo(final Vector3D u) {
+ public FieldVector3D<T> applyInverseTo(final Vector3D u) {
final double x = u.getX();
final double y = u.getY();
final double z = u.getZ();
- final DerivativeStructure s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
- final DerivativeStructure m0 = q0.negate();
+ final T s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
+ final T m0 = q0.negate();
- return new Vector3DDS(m0.multiply(m0.multiply(x).subtract(q2.multiply(z).subtract(q3.multiply(y)))).add(s.multiply(q1)).multiply(2).subtract(x),
- m0.multiply(m0.multiply(y).subtract(q3.multiply(x).subtract(q1.multiply(z)))).add(s.multiply(q2)).multiply(2).subtract(y),
- m0.multiply(m0.multiply(z).subtract(q1.multiply(y).subtract(q2.multiply(x)))).add(s.multiply(q3)).multiply(2).subtract(z));
+ return new FieldVector3D<T>(m0.multiply(m0.multiply(x).subtract(q2.multiply(z).subtract(q3.multiply(y)))).add(s.multiply(q1)).multiply(2).subtract(x),
+ m0.multiply(m0.multiply(y).subtract(q3.multiply(x).subtract(q1.multiply(z)))).add(s.multiply(q2)).multiply(2).subtract(y),
+ m0.multiply(m0.multiply(z).subtract(q1.multiply(y).subtract(q2.multiply(x)))).add(s.multiply(q3)).multiply(2).subtract(z));
}
@@ -928,14 +890,14 @@ public class RotationDS implements Seria
* @param out an array with three items to put result to (it can be the same
* array as in)
*/
- public void applyInverseTo(final DerivativeStructure[] in, final DerivativeStructure[] out) {
+ public void applyInverseTo(final T[] in, final T[] out) {
- final DerivativeStructure x = in[0];
- final DerivativeStructure y = in[1];
- final DerivativeStructure z = in[2];
+ final T x = in[0];
+ final T y = in[1];
+ final T z = in[2];
- final DerivativeStructure s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
- final DerivativeStructure m0 = q0.negate();
+ final T s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
+ final T m0 = q0.negate();
out[0] = m0.multiply(x.multiply(m0).subtract(q2.multiply(z).subtract(q3.multiply(y)))).add(s.multiply(q1)).multiply(2).subtract(x);
out[1] = m0.multiply(y.multiply(m0).subtract(q3.multiply(x).subtract(q1.multiply(z)))).add(s.multiply(q2)).multiply(2).subtract(y);
@@ -947,14 +909,14 @@ public class RotationDS implements Seria
* @param in an array with three items which stores vector to rotate
* @param out an array with three items to put result to
*/
- public void applyInverseTo(final double[] in, final DerivativeStructure[] out) {
+ public void applyInverseTo(final double[] in, final T[] out) {
final double x = in[0];
final double y = in[1];
final double z = in[2];
- final DerivativeStructure s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
- final DerivativeStructure m0 = q0.negate();
+ final T s = q1.multiply(x).add(q2.multiply(y)).add(q3.multiply(z));
+ final T m0 = q0.negate();
out[0] = m0.multiply(m0.multiply(x).subtract(q2.multiply(z).subtract(q3.multiply(y)))).add(s.multiply(q1)).multiply(2).subtract(x);
out[1] = m0.multiply(m0.multiply(y).subtract(q3.multiply(x).subtract(q1.multiply(z)))).add(s.multiply(q2)).multiply(2).subtract(y);
@@ -967,18 +929,18 @@ public class RotationDS implements Seria
* @param u vector to apply the inverse of the rotation to
* @return a new vector which such that u is its image by the rotation
*/
- public static Vector3DDS applyInverseTo(final Rotation r, final Vector3DDS u) {
+ public static <T extends ExtendedFieldElement<T>> FieldVector3D<T> applyInverseTo(final Rotation r, final FieldVector3D<T> u) {
- final DerivativeStructure x = u.getX();
- final DerivativeStructure y = u.getY();
- final DerivativeStructure z = u.getZ();
+ final T x = u.getX();
+ final T y = u.getY();
+ final T z = u.getZ();
- final DerivativeStructure s = x.multiply(r.getQ1()).add(y.multiply(r.getQ2())).add(z.multiply(r.getQ3()));
+ final T s = x.multiply(r.getQ1()).add(y.multiply(r.getQ2())).add(z.multiply(r.getQ3()));
final double m0 = -r.getQ0();
- return new Vector3DDS(x.multiply(m0).subtract(z.multiply(r.getQ2()).subtract(y.multiply(r.getQ3()))).multiply(m0).add(s.multiply(r.getQ1())).multiply(2).subtract(x),
- y.multiply(m0).subtract(x.multiply(r.getQ3()).subtract(z.multiply(r.getQ1()))).multiply(m0).add(s.multiply(r.getQ2())).multiply(2).subtract(y),
- z.multiply(m0).subtract(y.multiply(r.getQ1()).subtract(x.multiply(r.getQ2()))).multiply(m0).add(s.multiply(r.getQ3())).multiply(2).subtract(z));
+ return new FieldVector3D<T>(x.multiply(m0).subtract(z.multiply(r.getQ2()).subtract(y.multiply(r.getQ3()))).multiply(m0).add(s.multiply(r.getQ1())).multiply(2).subtract(x),
+ y.multiply(m0).subtract(x.multiply(r.getQ3()).subtract(z.multiply(r.getQ1()))).multiply(m0).add(s.multiply(r.getQ2())).multiply(2).subtract(y),
+ z.multiply(m0).subtract(y.multiply(r.getQ1()).subtract(x.multiply(r.getQ2()))).multiply(m0).add(s.multiply(r.getQ3())).multiply(2).subtract(z));
}
@@ -991,12 +953,12 @@ public class RotationDS implements Seria
* @param r rotation to apply the rotation to
* @return a new rotation which is the composition of r by the instance
*/
- public RotationDS applyTo(final RotationDS r) {
- return new RotationDS(r.q0.multiply(q0).subtract(r.q1.multiply(q1).add(r.q2.multiply(q2)).add(r.q3.multiply(q3))),
- r.q1.multiply(q0).add(r.q0.multiply(q1)).add(r.q2.multiply(q3).subtract(r.q3.multiply(q2))),
- r.q2.multiply(q0).add(r.q0.multiply(q2)).add(r.q3.multiply(q1).subtract(r.q1.multiply(q3))),
- r.q3.multiply(q0).add(r.q0.multiply(q3)).add(r.q1.multiply(q2).subtract(r.q2.multiply(q1))),
- false);
+ public FieldRotation<T> applyTo(final FieldRotation<T> r) {
+ return new FieldRotation<T>(r.q0.multiply(q0).subtract(r.q1.multiply(q1).add(r.q2.multiply(q2)).add(r.q3.multiply(q3))),
+ r.q1.multiply(q0).add(r.q0.multiply(q1)).add(r.q2.multiply(q3).subtract(r.q3.multiply(q2))),
+ r.q2.multiply(q0).add(r.q0.multiply(q2)).add(r.q3.multiply(q1).subtract(r.q1.multiply(q3))),
+ r.q3.multiply(q0).add(r.q0.multiply(q3)).add(r.q1.multiply(q2).subtract(r.q2.multiply(q1))),
+ false);
}
/** Apply the instance to another rotation.
@@ -1008,12 +970,12 @@ public class RotationDS implements Seria
* @param r rotation to apply the rotation to
* @return a new rotation which is the composition of r by the instance
*/
- public RotationDS applyTo(final Rotation r) {
- return new RotationDS(q0.multiply(r.getQ0()).subtract(q1.multiply(r.getQ1()).add(q2.multiply(r.getQ2())).add(q3.multiply(r.getQ3()))),
- q0.multiply(r.getQ1()).add(q1.multiply(r.getQ0())).add(q3.multiply(r.getQ2()).subtract(q2.multiply(r.getQ3()))),
- q0.multiply(r.getQ2()).add(q2.multiply(r.getQ0())).add(q1.multiply(r.getQ3()).subtract(q3.multiply(r.getQ1()))),
- q0.multiply(r.getQ3()).add(q3.multiply(r.getQ0())).add(q2.multiply(r.getQ1()).subtract(q1.multiply(r.getQ2()))),
- false);
+ public FieldRotation<T> applyTo(final Rotation r) {
+ return new FieldRotation<T>(q0.multiply(r.getQ0()).subtract(q1.multiply(r.getQ1()).add(q2.multiply(r.getQ2())).add(q3.multiply(r.getQ3()))),
+ q0.multiply(r.getQ1()).add(q1.multiply(r.getQ0())).add(q3.multiply(r.getQ2()).subtract(q2.multiply(r.getQ3()))),
+ q0.multiply(r.getQ2()).add(q2.multiply(r.getQ0())).add(q1.multiply(r.getQ3()).subtract(q3.multiply(r.getQ1()))),
+ q0.multiply(r.getQ3()).add(q3.multiply(r.getQ0())).add(q2.multiply(r.getQ1()).subtract(q1.multiply(r.getQ2()))),
+ false);
}
/** Apply a rotation to another rotation.
@@ -1026,12 +988,12 @@ public class RotationDS implements Seria
* @param rInner rotation to apply the rotation to
* @return a new rotation which is the composition of r by the instance
*/
- public static RotationDS applyTo(final Rotation r1, final RotationDS rInner) {
- return new RotationDS(rInner.q0.multiply(r1.getQ0()).subtract(rInner.q1.multiply(r1.getQ1()).add(rInner.q2.multiply(r1.getQ2())).add(rInner.q3.multiply(r1.getQ3()))),
- rInner.q1.multiply(r1.getQ0()).add(rInner.q0.multiply(r1.getQ1())).add(rInner.q2.multiply(r1.getQ3()).subtract(rInner.q3.multiply(r1.getQ2()))),
- rInner.q2.multiply(r1.getQ0()).add(rInner.q0.multiply(r1.getQ2())).add(rInner.q3.multiply(r1.getQ1()).subtract(rInner.q1.multiply(r1.getQ3()))),
- rInner.q3.multiply(r1.getQ0()).add(rInner.q0.multiply(r1.getQ3())).add(rInner.q1.multiply(r1.getQ2()).subtract(rInner.q2.multiply(r1.getQ1()))),
- false);
+ public static <T extends ExtendedFieldElement<T>> FieldRotation<T> applyTo(final Rotation r1, final FieldRotation<T> rInner) {
+ return new FieldRotation<T>(rInner.q0.multiply(r1.getQ0()).subtract(rInner.q1.multiply(r1.getQ1()).add(rInner.q2.multiply(r1.getQ2())).add(rInner.q3.multiply(r1.getQ3()))),
+ rInner.q1.multiply(r1.getQ0()).add(rInner.q0.multiply(r1.getQ1())).add(rInner.q2.multiply(r1.getQ3()).subtract(rInner.q3.multiply(r1.getQ2()))),
+ rInner.q2.multiply(r1.getQ0()).add(rInner.q0.multiply(r1.getQ2())).add(rInner.q3.multiply(r1.getQ1()).subtract(rInner.q1.multiply(r1.getQ3()))),
+ rInner.q3.multiply(r1.getQ0()).add(rInner.q0.multiply(r1.getQ3())).add(rInner.q1.multiply(r1.getQ2()).subtract(rInner.q2.multiply(r1.getQ1()))),
+ false);
}
/** Apply the inverse of the instance to another rotation.
@@ -1045,12 +1007,12 @@ public class RotationDS implements Seria
* @return a new rotation which is the composition of r by the inverse
* of the instance
*/
- public RotationDS applyInverseTo(final RotationDS r) {
- return new RotationDS(r.q0.multiply(q0).add(r.q1.multiply(q1).add(r.q2.multiply(q2)).add(r.q3.multiply(q3))).negate(),
- r.q0.multiply(q1).add(r.q2.multiply(q3).subtract(r.q3.multiply(q2))).subtract(r.q1.multiply(q0)),
- r.q0.multiply(q2).add(r.q3.multiply(q1).subtract(r.q1.multiply(q3))).subtract(r.q2.multiply(q0)),
- r.q0.multiply(q3).add(r.q1.multiply(q2).subtract(r.q2.multiply(q1))).subtract(r.q3.multiply(q0)),
- false);
+ public FieldRotation<T> applyInverseTo(final FieldRotation<T> r) {
+ return new FieldRotation<T>(r.q0.multiply(q0).add(r.q1.multiply(q1).add(r.q2.multiply(q2)).add(r.q3.multiply(q3))).negate(),
+ r.q0.multiply(q1).add(r.q2.multiply(q3).subtract(r.q3.multiply(q2))).subtract(r.q1.multiply(q0)),
+ r.q0.multiply(q2).add(r.q3.multiply(q1).subtract(r.q1.multiply(q3))).subtract(r.q2.multiply(q0)),
+ r.q0.multiply(q3).add(r.q1.multiply(q2).subtract(r.q2.multiply(q1))).subtract(r.q3.multiply(q0)),
+ false);
}
/** Apply the inverse of the instance to another rotation.
@@ -1064,12 +1026,12 @@ public class RotationDS implements Seria
* @return a new rotation which is the composition of r by the inverse
* of the instance
*/
- public RotationDS applyInverseTo(final Rotation r) {
- return new RotationDS(q0.multiply(r.getQ0()).add(q1.multiply(r.getQ1()).add(q2.multiply(r.getQ2())).add(q3.multiply(r.getQ3()))).negate(),
- q1.multiply(r.getQ0()).add(q3.multiply(r.getQ2()).subtract(q2.multiply(r.getQ3()))).subtract(q0.multiply(r.getQ1())),
- q2.multiply(r.getQ0()).add(q1.multiply(r.getQ3()).subtract(q3.multiply(r.getQ1()))).subtract(q0.multiply(r.getQ2())),
- q3.multiply(r.getQ0()).add(q2.multiply(r.getQ1()).subtract(q1.multiply(r.getQ2()))).subtract(q0.multiply(r.getQ3())),
- false);
+ public FieldRotation<T> applyInverseTo(final Rotation r) {
+ return new FieldRotation<T>(q0.multiply(r.getQ0()).add(q1.multiply(r.getQ1()).add(q2.multiply(r.getQ2())).add(q3.multiply(r.getQ3()))).negate(),
+ q1.multiply(r.getQ0()).add(q3.multiply(r.getQ2()).subtract(q2.multiply(r.getQ3()))).subtract(q0.multiply(r.getQ1())),
+ q2.multiply(r.getQ0()).add(q1.multiply(r.getQ3()).subtract(q3.multiply(r.getQ1()))).subtract(q0.multiply(r.getQ2())),
+ q3.multiply(r.getQ0()).add(q2.multiply(r.getQ1()).subtract(q1.multiply(r.getQ2()))).subtract(q0.multiply(r.getQ3())),
+ false);
}
/** Apply the inverse of a rotation to another rotation.
@@ -1084,12 +1046,12 @@ public class RotationDS implements Seria
* @return a new rotation which is the composition of r by the inverse
* of the instance
*/
- public static RotationDS applyInverseTo(final Rotation rOuter, final RotationDS rInner) {
- return new RotationDS(rInner.q0.multiply(rOuter.getQ0()).add(rInner.q1.multiply(rOuter.getQ1()).add(rInner.q2.multiply(rOuter.getQ2())).add(rInner.q3.multiply(rOuter.getQ3()))).negate(),
- rInner.q0.multiply(rOuter.getQ1()).add(rInner.q2.multiply(rOuter.getQ3()).subtract(rInner.q3.multiply(rOuter.getQ2()))).subtract(rInner.q1.multiply(rOuter.getQ0())),
- rInner.q0.multiply(rOuter.getQ2()).add(rInner.q3.multiply(rOuter.getQ1()).subtract(rInner.q1.multiply(rOuter.getQ3()))).subtract(rInner.q2.multiply(rOuter.getQ0())),
- rInner.q0.multiply(rOuter.getQ3()).add(rInner.q1.multiply(rOuter.getQ2()).subtract(rInner.q2.multiply(rOuter.getQ1()))).subtract(rInner.q3.multiply(rOuter.getQ0())),
- false);
+ public static <T extends ExtendedFieldElement<T>> FieldRotation<T> applyInverseTo(final Rotation rOuter, final FieldRotation<T> rInner) {
+ return new FieldRotation<T>(rInner.q0.multiply(rOuter.getQ0()).add(rInner.q1.multiply(rOuter.getQ1()).add(rInner.q2.multiply(rOuter.getQ2())).add(rInner.q3.multiply(rOuter.getQ3()))).negate(),
+ rInner.q0.multiply(rOuter.getQ1()).add(rInner.q2.multiply(rOuter.getQ3()).subtract(rInner.q3.multiply(rOuter.getQ2()))).subtract(rInner.q1.multiply(rOuter.getQ0())),
+ rInner.q0.multiply(rOuter.getQ2()).add(rInner.q3.multiply(rOuter.getQ1()).subtract(rInner.q1.multiply(rOuter.getQ3()))).subtract(rInner.q2.multiply(rOuter.getQ0())),
+ rInner.q0.multiply(rOuter.getQ3()).add(rInner.q1.multiply(rOuter.getQ2()).subtract(rInner.q2.multiply(rOuter.getQ1()))).subtract(rInner.q3.multiply(rOuter.getQ0())),
+ false);
}
/** Perfect orthogonality on a 3X3 matrix.
@@ -1102,38 +1064,37 @@ public class RotationDS implements Seria
* @exception NotARotationMatrixException if the matrix cannot be
* orthogonalized with the given threshold after 10 iterations
*/
- private DerivativeStructure[][] orthogonalizeMatrix(final DerivativeStructure[][] m,
- final double threshold)
+ private T[][] orthogonalizeMatrix(final T[][] m, final double threshold)
throws NotARotationMatrixException {
- DerivativeStructure x00 = m[0][0];
- DerivativeStructure x01 = m[0][1];
- DerivativeStructure x02 = m[0][2];
- DerivativeStructure x10 = m[1][0];
- DerivativeStructure x11 = m[1][1];
- DerivativeStructure x12 = m[1][2];
- DerivativeStructure x20 = m[2][0];
- DerivativeStructure x21 = m[2][1];
- DerivativeStructure x22 = m[2][2];
+ T x00 = m[0][0];
+ T x01 = m[0][1];
+ T x02 = m[0][2];
+ T x10 = m[1][0];
+ T x11 = m[1][1];
+ T x12 = m[1][2];
+ T x20 = m[2][0];
+ T x21 = m[2][1];
+ T x22 = m[2][2];
double fn = 0;
double fn1;
- final DerivativeStructure[][] o = new DerivativeStructure[3][3];
+ final T[][] o = MathArrays.buildArray(m[0][0].getField(), 3, 3);
// iterative correction: Xn+1 = Xn - 0.5 * (Xn.Mt.Xn - M)
int i = 0;
while (++i < 11) {
// Mt.Xn
- final DerivativeStructure mx00 = m[0][0].multiply(x00).add(m[1][0].multiply(x10)).add(m[2][0].multiply(x20));
- final DerivativeStructure mx10 = m[0][1].multiply(x00).add(m[1][1].multiply(x10)).add(m[2][1].multiply(x20));
- final DerivativeStructure mx20 = m[0][2].multiply(x00).add(m[1][2].multiply(x10)).add(m[2][2].multiply(x20));
- final DerivativeStructure mx01 = m[0][0].multiply(x01).add(m[1][0].multiply(x11)).add(m[2][0].multiply(x21));
- final DerivativeStructure mx11 = m[0][1].multiply(x01).add(m[1][1].multiply(x11)).add(m[2][1].multiply(x21));
- final DerivativeStructure mx21 = m[0][2].multiply(x01).add(m[1][2].multiply(x11)).add(m[2][2].multiply(x21));
- final DerivativeStructure mx02 = m[0][0].multiply(x02).add(m[1][0].multiply(x12)).add(m[2][0].multiply(x22));
- final DerivativeStructure mx12 = m[0][1].multiply(x02).add(m[1][1].multiply(x12)).add(m[2][1].multiply(x22));
- final DerivativeStructure mx22 = m[0][2].multiply(x02).add(m[1][2].multiply(x12)).add(m[2][2].multiply(x22));
+ final T mx00 = m[0][0].multiply(x00).add(m[1][0].multiply(x10)).add(m[2][0].multiply(x20));
+ final T mx10 = m[0][1].multiply(x00).add(m[1][1].multiply(x10)).add(m[2][1].multiply(x20));
+ final T mx20 = m[0][2].multiply(x00).add(m[1][2].multiply(x10)).add(m[2][2].multiply(x20));
+ final T mx01 = m[0][0].multiply(x01).add(m[1][0].multiply(x11)).add(m[2][0].multiply(x21));
+ final T mx11 = m[0][1].multiply(x01).add(m[1][1].multiply(x11)).add(m[2][1].multiply(x21));
+ final T mx21 = m[0][2].multiply(x01).add(m[1][2].multiply(x11)).add(m[2][2].multiply(x21));
+ final T mx02 = m[0][0].multiply(x02).add(m[1][0].multiply(x12)).add(m[2][0].multiply(x22));
+ final T mx12 = m[0][1].multiply(x02).add(m[1][1].multiply(x12)).add(m[2][1].multiply(x22));
+ final T mx22 = m[0][2].multiply(x02).add(m[1][2].multiply(x12)).add(m[2][2].multiply(x22));
// Xn+1
o[0][0] = x00.subtract(x00.multiply(mx00).add(x01.multiply(mx10)).add(x02.multiply(mx20)).subtract(m[0][0]).multiply(0.5));
@@ -1147,15 +1108,15 @@ public class RotationDS implements Seria
o[2][2] = x22.subtract(x20.multiply(mx02).add(x21.multiply(mx12)).add(x22.multiply(mx22)).subtract(m[2][2]).multiply(0.5));
// correction on each elements
- final double corr00 = o[0][0].getValue() - m[0][0].getValue();
- final double corr01 = o[0][1].getValue() - m[0][1].getValue();
- final double corr02 = o[0][2].getValue() - m[0][2].getValue();
- final double corr10 = o[1][0].getValue() - m[1][0].getValue();
- final double corr11 = o[1][1].getValue() - m[1][1].getValue();
- final double corr12 = o[1][2].getValue() - m[1][2].getValue();
- final double corr20 = o[2][0].getValue() - m[2][0].getValue();
- final double corr21 = o[2][1].getValue() - m[2][1].getValue();
- final double corr22 = o[2][2].getValue() - m[2][2].getValue();
+ final double corr00 = o[0][0].getReal() - m[0][0].getReal();
+ final double corr01 = o[0][1].getReal() - m[0][1].getReal();
+ final double corr02 = o[0][2].getReal() - m[0][2].getReal();
+ final double corr10 = o[1][0].getReal() - m[1][0].getReal();
+ final double corr11 = o[1][1].getReal() - m[1][1].getReal();
+ final double corr12 = o[1][2].getReal() - m[1][2].getReal();
+ final double corr20 = o[2][0].getReal() - m[2][0].getReal();
+ final double corr21 = o[2][1].getReal() - m[2][1].getReal();
+ final double corr22 = o[2][2].getReal() - m[2][2].getReal();
// Frobenius norm of the correction
fn1 = corr00 * corr00 + corr01 * corr01 + corr02 * corr02 +
@@ -1211,7 +1172,7 @@ public class RotationDS implements Seria
* @param r2 second rotation
* @return <i>distance</i> between r1 and r2
*/
- public static DerivativeStructure distance(final RotationDS r1, final RotationDS r2) {
+ public static <T extends ExtendedFieldElement<T>> T distance(final FieldRotation<T> r1, final FieldRotation<T> r2) {
return r1.applyInverseTo(r2).getAngle();
}
Propchange: commons/proper/math/trunk/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotation.java
------------------------------------------------------------------------------
svn:eol-style = native
Propchange: commons/proper/math/trunk/src/main/java/org/apache/commons/math3/geometry/euclidean/threed/FieldRotation.java
------------------------------------------------------------------------------
svn:keywords = "Author Date Id Revision"