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--- websites/production/commons/content/proper/commons-math/xref-test/org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDfpTest.html (added)
+++ websites/production/commons/content/proper/commons-math/xref-test/org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDfpTest.html Sun Apr 7 07:52:05 2013
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en" lang="en">
+<head>
+<meta http-equiv="content-type" content="text/html; charset=UTF-8" />
+<title>FieldRotationDfpTest xref</title>
+<link type="text/css" rel="stylesheet" href="../../../../../../../stylesheet.css" />
+</head>
+<body>
+<div id="overview"><a href="../../../../../../../../testapidocs/org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDfpTest.html">View Javadoc</a></div><pre>
+
+<a class="jxr_linenumber" name="1" href="#1">1</a> <em class="jxr_comment">/*</em>
+<a class="jxr_linenumber" name="2" href="#2">2</a> <em class="jxr_comment"> * Licensed to the Apache Software Foundation (ASF) under one or more</em>
+<a class="jxr_linenumber" name="3" href="#3">3</a> <em class="jxr_comment"> * contributor license agreements. See the NOTICE file distributed with</em>
+<a class="jxr_linenumber" name="4" href="#4">4</a> <em class="jxr_comment"> * this work for additional information regarding copyright ownership.</em>
+<a class="jxr_linenumber" name="5" href="#5">5</a> <em class="jxr_comment"> * The ASF licenses this file to You under the Apache License, Version 2.0</em>
+<a class="jxr_linenumber" name="6" href="#6">6</a> <em class="jxr_comment"> * (the "License"); you may not use this file except in compliance with</em>
+<a class="jxr_linenumber" name="7" href="#7">7</a> <em class="jxr_comment"> * the License. You may obtain a copy of the License at</em>
+<a class="jxr_linenumber" name="8" href="#8">8</a> <em class="jxr_comment"> *</em>
+<a class="jxr_linenumber" name="9" href="#9">9</a> <em class="jxr_comment"> * <a href="http://www.apache.org/licenses/LICENSE-2.0" target="alexandria_uri">http://www.apache.org/licenses/LICENSE-2.0</a></em>
+<a class="jxr_linenumber" name="10" href="#10">10</a> <em class="jxr_comment"> *</em>
+<a class="jxr_linenumber" name="11" href="#11">11</a> <em class="jxr_comment"> * Unless required by applicable law or agreed to in writing, software</em>
+<a class="jxr_linenumber" name="12" href="#12">12</a> <em class="jxr_comment"> * distributed under the License is distributed on an "AS IS" BASIS,</em>
+<a class="jxr_linenumber" name="13" href="#13">13</a> <em class="jxr_comment"> * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.</em>
+<a class="jxr_linenumber" name="14" href="#14">14</a> <em class="jxr_comment"> * See the License for the specific language governing permissions and</em>
+<a class="jxr_linenumber" name="15" href="#15">15</a> <em class="jxr_comment"> * limitations under the License.</em>
+<a class="jxr_linenumber" name="16" href="#16">16</a> <em class="jxr_comment"> */</em>
+<a class="jxr_linenumber" name="17" href="#17">17</a>
+<a class="jxr_linenumber" name="18" href="#18">18</a> <strong class="jxr_keyword">package</strong> org.apache.commons.math3.geometry.euclidean.threed;
+<a class="jxr_linenumber" name="19" href="#19">19</a>
+<a class="jxr_linenumber" name="20" href="#20">20</a> <strong class="jxr_keyword">import</strong> org.apache.commons.math3.dfp.Dfp;
+<a class="jxr_linenumber" name="21" href="#21">21</a> <strong class="jxr_keyword">import</strong> org.apache.commons.math3.dfp.DfpField;
+<a class="jxr_linenumber" name="22" href="#22">22</a> <strong class="jxr_keyword">import</strong> org.apache.commons.math3.exception.MathArithmeticException;
+<a class="jxr_linenumber" name="23" href="#23">23</a> <strong class="jxr_keyword">import</strong> org.apache.commons.math3.exception.MathIllegalArgumentException;
+<a class="jxr_linenumber" name="24" href="#24">24</a> <strong class="jxr_keyword">import</strong> org.apache.commons.math3.random.UnitSphereRandomVectorGenerator;
+<a class="jxr_linenumber" name="25" href="#25">25</a> <strong class="jxr_keyword">import</strong> org.apache.commons.math3.random.Well1024a;
+<a class="jxr_linenumber" name="26" href="#26">26</a> <strong class="jxr_keyword">import</strong> org.apache.commons.math3.util.FastMath;
+<a class="jxr_linenumber" name="27" href="#27">27</a> <strong class="jxr_keyword">import</strong> org.apache.commons.math3.util.MathUtils;
+<a class="jxr_linenumber" name="28" href="#28">28</a> <strong class="jxr_keyword">import</strong> org.junit.Assert;
+<a class="jxr_linenumber" name="29" href="#29">29</a> <strong class="jxr_keyword">import</strong> org.junit.Test;
+<a class="jxr_linenumber" name="30" href="#30">30</a>
+<a class="jxr_linenumber" name="31" href="#31">31</a>
+<a class="jxr_linenumber" name="32" href="#32">32</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">class</strong> <a href="../../../../../../../org/apache/commons/math3/geometry/euclidean/threed/FieldRotationDfpTest.html">FieldRotationDfpTest</a> {
+<a class="jxr_linenumber" name="33" href="#33">33</a>
+<a class="jxr_linenumber" name="34" href="#34">34</a> @Test
+<a class="jxr_linenumber" name="35" href="#35">35</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testIdentity() {
+<a class="jxr_linenumber" name="36" href="#36">36</a>
+<a class="jxr_linenumber" name="37" href="#37">37</a> FieldRotation<Dfp> r = createRotation(1, 0, 0, 0, false);
+<a class="jxr_linenumber" name="38" href="#38">38</a> checkVector(r.applyTo(createVector(1, 0, 0)), createVector(1, 0, 0));
+<a class="jxr_linenumber" name="39" href="#39">39</a> checkVector(r.applyTo(createVector(0, 1, 0)), createVector(0, 1, 0));
+<a class="jxr_linenumber" name="40" href="#40">40</a> checkVector(r.applyTo(createVector(0, 0, 1)), createVector(0, 0, 1));
+<a class="jxr_linenumber" name="41" href="#41">41</a> checkAngle(r.getAngle(), 0);
+<a class="jxr_linenumber" name="42" href="#42">42</a>
+<a class="jxr_linenumber" name="43" href="#43">43</a> r = createRotation(-1, 0, 0, 0, false);
+<a class="jxr_linenumber" name="44" href="#44">44</a> checkVector(r.applyTo(createVector(1, 0, 0)), createVector(1, 0, 0));
+<a class="jxr_linenumber" name="45" href="#45">45</a> checkVector(r.applyTo(createVector(0, 1, 0)), createVector(0, 1, 0));
+<a class="jxr_linenumber" name="46" href="#46">46</a> checkVector(r.applyTo(createVector(0, 0, 1)), createVector(0, 0, 1));
+<a class="jxr_linenumber" name="47" href="#47">47</a> checkAngle(r.getAngle(), 0);
+<a class="jxr_linenumber" name="48" href="#48">48</a>
+<a class="jxr_linenumber" name="49" href="#49">49</a> r = createRotation(42, 0, 0, 0, <strong class="jxr_keyword">true</strong>);
+<a class="jxr_linenumber" name="50" href="#50">50</a> checkVector(r.applyTo(createVector(1, 0, 0)), createVector(1, 0, 0));
+<a class="jxr_linenumber" name="51" href="#51">51</a> checkVector(r.applyTo(createVector(0, 1, 0)), createVector(0, 1, 0));
+<a class="jxr_linenumber" name="52" href="#52">52</a> checkVector(r.applyTo(createVector(0, 0, 1)), createVector(0, 0, 1));
+<a class="jxr_linenumber" name="53" href="#53">53</a> checkAngle(r.getAngle(), 0);
+<a class="jxr_linenumber" name="54" href="#54">54</a>
+<a class="jxr_linenumber" name="55" href="#55">55</a> }
+<a class="jxr_linenumber" name="56" href="#56">56</a>
+<a class="jxr_linenumber" name="57" href="#57">57</a> @Test
+<a class="jxr_linenumber" name="58" href="#58">58</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testAxisAngle() <strong class="jxr_keyword">throws</strong> MathIllegalArgumentException {
+<a class="jxr_linenumber" name="59" href="#59">59</a>
+<a class="jxr_linenumber" name="60" href="#60">60</a> FieldRotation<Dfp> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createAxis(10, 10, 10), createAngle(2 * FastMath.PI / 3));
+<a class="jxr_linenumber" name="61" href="#61">61</a> checkVector(r.applyTo(createVector(1, 0, 0)), createVector(0, 1, 0));
+<a class="jxr_linenumber" name="62" href="#62">62</a> checkVector(r.applyTo(createVector(0, 1, 0)), createVector(0, 0, 1));
+<a class="jxr_linenumber" name="63" href="#63">63</a> checkVector(r.applyTo(createVector(0, 0, 1)), createVector(1, 0, 0));
+<a class="jxr_linenumber" name="64" href="#64">64</a> <strong class="jxr_keyword">double</strong> s = 1 / FastMath.sqrt(3);
+<a class="jxr_linenumber" name="65" href="#65">65</a> checkVector(r.getAxis(), createVector(s, s, s));
+<a class="jxr_linenumber" name="66" href="#66">66</a> checkAngle(r.getAngle(), 2 * FastMath.PI / 3);
+<a class="jxr_linenumber" name="67" href="#67">67</a>
+<a class="jxr_linenumber" name="68" href="#68">68</a> <strong class="jxr_keyword">try</strong> {
+<a class="jxr_linenumber" name="69" href="#69">69</a> <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createAxis(0, 0, 0), createAngle(2 * FastMath.PI / 3));
+<a class="jxr_linenumber" name="70" href="#70">70</a> Assert.fail(<span class="jxr_string">"an exception should have been thrown"</span>);
+<a class="jxr_linenumber" name="71" href="#71">71</a> } <strong class="jxr_keyword">catch</strong> (MathIllegalArgumentException e) {
+<a class="jxr_linenumber" name="72" href="#72">72</a> }
+<a class="jxr_linenumber" name="73" href="#73">73</a>
+<a class="jxr_linenumber" name="74" href="#74">74</a> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createAxis(0, 0, 1), createAngle(1.5 * FastMath.PI));
+<a class="jxr_linenumber" name="75" href="#75">75</a> checkVector(r.getAxis(), createVector(0, 0, -1));
+<a class="jxr_linenumber" name="76" href="#76">76</a> checkAngle(r.getAngle(), 0.5 * FastMath.PI);
+<a class="jxr_linenumber" name="77" href="#77">77</a>
+<a class="jxr_linenumber" name="78" href="#78">78</a> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createAxis(0, 1, 0), createAngle(FastMath.PI));
+<a class="jxr_linenumber" name="79" href="#79">79</a> checkVector(r.getAxis(), createVector(0, 1, 0));
+<a class="jxr_linenumber" name="80" href="#80">80</a> checkAngle(r.getAngle(), FastMath.PI);
+<a class="jxr_linenumber" name="81" href="#81">81</a>
+<a class="jxr_linenumber" name="82" href="#82">82</a> checkVector(createRotation(1, 0, 0, 0, false).getAxis(), createVector(1, 0, 0));
+<a class="jxr_linenumber" name="83" href="#83">83</a>
+<a class="jxr_linenumber" name="84" href="#84">84</a> }
+<a class="jxr_linenumber" name="85" href="#85">85</a>
+<a class="jxr_linenumber" name="86" href="#86">86</a> @Test
+<a class="jxr_linenumber" name="87" href="#87">87</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testRevert() {
+<a class="jxr_linenumber" name="88" href="#88">88</a> <strong class="jxr_keyword">double</strong> a = 0.001;
+<a class="jxr_linenumber" name="89" href="#89">89</a> <strong class="jxr_keyword">double</strong> b = 0.36;
+<a class="jxr_linenumber" name="90" href="#90">90</a> <strong class="jxr_keyword">double</strong> c = 0.48;
+<a class="jxr_linenumber" name="91" href="#91">91</a> <strong class="jxr_keyword">double</strong> d = 0.8;
+<a class="jxr_linenumber" name="92" href="#92">92</a> FieldRotation<Dfp> r = createRotation(a, b, c, d, <strong class="jxr_keyword">true</strong>);
+<a class="jxr_linenumber" name="93" href="#93">93</a> FieldRotation<Dfp> reverted = r.revert();
+<a class="jxr_linenumber" name="94" href="#94">94</a> FieldRotation<Dfp> rrT = r.applyTo(reverted);
+<a class="jxr_linenumber" name="95" href="#95">95</a> checkRotationDS(rrT, 1, 0, 0, 0);
+<a class="jxr_linenumber" name="96" href="#96">96</a> FieldRotation<Dfp> rTr = reverted.applyTo(r);
+<a class="jxr_linenumber" name="97" href="#97">97</a> checkRotationDS(rTr, 1, 0, 0, 0);
+<a class="jxr_linenumber" name="98" href="#98">98</a> Assert.assertEquals(r.getAngle().getReal(), reverted.getAngle().getReal(), 1.0e-15);
+<a class="jxr_linenumber" name="99" href="#99">99</a> Assert.assertEquals(-1, FieldVector3D.dotProduct(r.getAxis(), reverted.getAxis()).getReal(), 1.0e-15);
+<a class="jxr_linenumber" name="100" href="#100">100</a> }
+<a class="jxr_linenumber" name="101" href="#101">101</a>
+<a class="jxr_linenumber" name="102" href="#102">102</a> @Test
+<a class="jxr_linenumber" name="103" href="#103">103</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testVectorOnePair() <strong class="jxr_keyword">throws</strong> MathArithmeticException {
+<a class="jxr_linenumber" name="104" href="#104">104</a>
+<a class="jxr_linenumber" name="105" href="#105">105</a> FieldVector3D<Dfp> u = createVector(3, 2, 1);
+<a class="jxr_linenumber" name="106" href="#106">106</a> FieldVector3D<Dfp> v = createVector(-4, 2, 2);
+<a class="jxr_linenumber" name="107" href="#107">107</a> FieldRotation<Dfp> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(u, v);
+<a class="jxr_linenumber" name="108" href="#108">108</a> checkVector(r.applyTo(u.scalarMultiply(v.getNorm())), v.scalarMultiply(u.getNorm()));
+<a class="jxr_linenumber" name="109" href="#109">109</a>
+<a class="jxr_linenumber" name="110" href="#110">110</a> checkAngle(<strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(u, u.negate()).getAngle(), FastMath.PI);
+<a class="jxr_linenumber" name="111" href="#111">111</a>
+<a class="jxr_linenumber" name="112" href="#112">112</a> <strong class="jxr_keyword">try</strong> {
+<a class="jxr_linenumber" name="113" href="#113">113</a> <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(u, createVector(0, 0, 0));
+<a class="jxr_linenumber" name="114" href="#114">114</a> Assert.fail(<span class="jxr_string">"an exception should have been thrown"</span>);
+<a class="jxr_linenumber" name="115" href="#115">115</a> } <strong class="jxr_keyword">catch</strong> (MathArithmeticException e) {
+<a class="jxr_linenumber" name="116" href="#116">116</a> <em class="jxr_comment">// expected behavior</em>
+<a class="jxr_linenumber" name="117" href="#117">117</a> }
+<a class="jxr_linenumber" name="118" href="#118">118</a>
+<a class="jxr_linenumber" name="119" href="#119">119</a> }
+<a class="jxr_linenumber" name="120" href="#120">120</a>
+<a class="jxr_linenumber" name="121" href="#121">121</a> @Test
+<a class="jxr_linenumber" name="122" href="#122">122</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testVectorTwoPairs() <strong class="jxr_keyword">throws</strong> MathArithmeticException {
+<a class="jxr_linenumber" name="123" href="#123">123</a>
+<a class="jxr_linenumber" name="124" href="#124">124</a> FieldVector3D<Dfp> u1 = createVector(3, 0, 0);
+<a class="jxr_linenumber" name="125" href="#125">125</a> FieldVector3D<Dfp> u2 = createVector(0, 5, 0);
+<a class="jxr_linenumber" name="126" href="#126">126</a> FieldVector3D<Dfp> v1 = createVector(0, 0, 2);
+<a class="jxr_linenumber" name="127" href="#127">127</a> FieldVector3D<Dfp> v2 = createVector(-2, 0, 2);
+<a class="jxr_linenumber" name="128" href="#128">128</a> FieldRotation<Dfp> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(u1, u2, v1, v2);
+<a class="jxr_linenumber" name="129" href="#129">129</a> checkVector(r.applyTo(createVector(1, 0, 0)), createVector(0, 0, 1));
+<a class="jxr_linenumber" name="130" href="#130">130</a> checkVector(r.applyTo(createVector(0, 1, 0)), createVector(-1, 0, 0));
+<a class="jxr_linenumber" name="131" href="#131">131</a>
+<a class="jxr_linenumber" name="132" href="#132">132</a> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(u1, u2, u1.negate(), u2.negate());
+<a class="jxr_linenumber" name="133" href="#133">133</a> FieldVector3D<Dfp> axis = r.getAxis();
+<a class="jxr_linenumber" name="134" href="#134">134</a> <strong class="jxr_keyword">if</strong> (FieldVector3D.dotProduct(axis, createVector(0, 0, 1)).getReal() > 0) {
+<a class="jxr_linenumber" name="135" href="#135">135</a> checkVector(axis, createVector(0, 0, 1));
+<a class="jxr_linenumber" name="136" href="#136">136</a> } <strong class="jxr_keyword">else</strong> {
+<a class="jxr_linenumber" name="137" href="#137">137</a> checkVector(axis, createVector(0, 0, -1));
+<a class="jxr_linenumber" name="138" href="#138">138</a> }
+<a class="jxr_linenumber" name="139" href="#139">139</a> checkAngle(r.getAngle(), FastMath.PI);
+<a class="jxr_linenumber" name="140" href="#140">140</a>
+<a class="jxr_linenumber" name="141" href="#141">141</a> <strong class="jxr_keyword">double</strong> sqrt = FastMath.sqrt(2) / 2;
+<a class="jxr_linenumber" name="142" href="#142">142</a> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createVector(1, 0, 0), createVector(0, 1, 0),
+<a class="jxr_linenumber" name="143" href="#143">143</a> createVector(0.5, 0.5, sqrt),
+<a class="jxr_linenumber" name="144" href="#144">144</a> createVector(0.5, 0.5, -sqrt));
+<a class="jxr_linenumber" name="145" href="#145">145</a> checkRotationDS(r, sqrt, 0.5, 0.5, 0);
+<a class="jxr_linenumber" name="146" href="#146">146</a>
+<a class="jxr_linenumber" name="147" href="#147">147</a> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(u1, u2, u1, FieldVector3D.crossProduct(u1, u2));
+<a class="jxr_linenumber" name="148" href="#148">148</a> checkRotationDS(r, sqrt, -sqrt, 0, 0);
+<a class="jxr_linenumber" name="149" href="#149">149</a>
+<a class="jxr_linenumber" name="150" href="#150">150</a> checkRotationDS(<strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(u1, u2, u1, u2), 1, 0, 0, 0);
+<a class="jxr_linenumber" name="151" href="#151">151</a>
+<a class="jxr_linenumber" name="152" href="#152">152</a> <strong class="jxr_keyword">try</strong> {
+<a class="jxr_linenumber" name="153" href="#153">153</a> <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(u1, u2, createVector(0, 0, 0), v2);
+<a class="jxr_linenumber" name="154" href="#154">154</a> Assert.fail(<span class="jxr_string">"an exception should have been thrown"</span>);
+<a class="jxr_linenumber" name="155" href="#155">155</a> } <strong class="jxr_keyword">catch</strong> (MathArithmeticException e) {
+<a class="jxr_linenumber" name="156" href="#156">156</a> <em class="jxr_comment">// expected behavior</em>
+<a class="jxr_linenumber" name="157" href="#157">157</a> }
+<a class="jxr_linenumber" name="158" href="#158">158</a>
+<a class="jxr_linenumber" name="159" href="#159">159</a> }
+<a class="jxr_linenumber" name="160" href="#160">160</a>
+<a class="jxr_linenumber" name="161" href="#161">161</a> @Test
+<a class="jxr_linenumber" name="162" href="#162">162</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testMatrix()
+<a class="jxr_linenumber" name="163" href="#163">163</a> <strong class="jxr_keyword">throws</strong> NotARotationMatrixException {
+<a class="jxr_linenumber" name="164" href="#164">164</a>
+<a class="jxr_linenumber" name="165" href="#165">165</a> <strong class="jxr_keyword">try</strong> {
+<a class="jxr_linenumber" name="166" href="#166">166</a> createRotation(<strong class="jxr_keyword">new</strong> <strong class="jxr_keyword">double</strong>[][] {
+<a class="jxr_linenumber" name="167" href="#167">167</a> { 0.0, 1.0, 0.0 },
+<a class="jxr_linenumber" name="168" href="#168">168</a> { 1.0, 0.0, 0.0 }
+<a class="jxr_linenumber" name="169" href="#169">169</a> }, 1.0e-7);
+<a class="jxr_linenumber" name="170" href="#170">170</a> Assert.fail(<span class="jxr_string">"Expecting NotARotationMatrixException"</span>);
+<a class="jxr_linenumber" name="171" href="#171">171</a> } <strong class="jxr_keyword">catch</strong> (NotARotationMatrixException nrme) {
+<a class="jxr_linenumber" name="172" href="#172">172</a> <em class="jxr_comment">// expected behavior</em>
+<a class="jxr_linenumber" name="173" href="#173">173</a> }
+<a class="jxr_linenumber" name="174" href="#174">174</a>
+<a class="jxr_linenumber" name="175" href="#175">175</a> <strong class="jxr_keyword">try</strong> {
+<a class="jxr_linenumber" name="176" href="#176">176</a> createRotation(<strong class="jxr_keyword">new</strong> <strong class="jxr_keyword">double</strong>[][] {
+<a class="jxr_linenumber" name="177" href="#177">177</a> { 0.445888, 0.797184, -0.407040 },
+<a class="jxr_linenumber" name="178" href="#178">178</a> { 0.821760, -0.184320, 0.539200 },
+<a class="jxr_linenumber" name="179" href="#179">179</a> { -0.354816, 0.574912, 0.737280 }
+<a class="jxr_linenumber" name="180" href="#180">180</a> }, 1.0e-7);
+<a class="jxr_linenumber" name="181" href="#181">181</a> Assert.fail(<span class="jxr_string">"Expecting NotARotationMatrixException"</span>);
+<a class="jxr_linenumber" name="182" href="#182">182</a> } <strong class="jxr_keyword">catch</strong> (NotARotationMatrixException nrme) {
+<a class="jxr_linenumber" name="183" href="#183">183</a> <em class="jxr_comment">// expected behavior</em>
+<a class="jxr_linenumber" name="184" href="#184">184</a> }
+<a class="jxr_linenumber" name="185" href="#185">185</a>
+<a class="jxr_linenumber" name="186" href="#186">186</a> <strong class="jxr_keyword">try</strong> {
+<a class="jxr_linenumber" name="187" href="#187">187</a> createRotation(<strong class="jxr_keyword">new</strong> <strong class="jxr_keyword">double</strong>[][] {
+<a class="jxr_linenumber" name="188" href="#188">188</a> { 0.4, 0.8, -0.4 },
+<a class="jxr_linenumber" name="189" href="#189">189</a> { -0.4, 0.6, 0.7 },
+<a class="jxr_linenumber" name="190" href="#190">190</a> { 0.8, -0.2, 0.5 }
+<a class="jxr_linenumber" name="191" href="#191">191</a> }, 1.0e-15);
+<a class="jxr_linenumber" name="192" href="#192">192</a> Assert.fail(<span class="jxr_string">"Expecting NotARotationMatrixException"</span>);
+<a class="jxr_linenumber" name="193" href="#193">193</a> } <strong class="jxr_keyword">catch</strong> (NotARotationMatrixException nrme) {
+<a class="jxr_linenumber" name="194" href="#194">194</a> <em class="jxr_comment">// expected behavior</em>
+<a class="jxr_linenumber" name="195" href="#195">195</a> }
+<a class="jxr_linenumber" name="196" href="#196">196</a>
+<a class="jxr_linenumber" name="197" href="#197">197</a> checkRotationDS(createRotation(<strong class="jxr_keyword">new</strong> <strong class="jxr_keyword">double</strong>[][] {
+<a class="jxr_linenumber" name="198" href="#198">198</a> { 0.445888, 0.797184, -0.407040 },
+<a class="jxr_linenumber" name="199" href="#199">199</a> { -0.354816, 0.574912, 0.737280 },
+<a class="jxr_linenumber" name="200" href="#200">200</a> { 0.821760, -0.184320, 0.539200 }
+<a class="jxr_linenumber" name="201" href="#201">201</a> }, 1.0e-10),
+<a class="jxr_linenumber" name="202" href="#202">202</a> 0.8, 0.288, 0.384, 0.36);
+<a class="jxr_linenumber" name="203" href="#203">203</a>
+<a class="jxr_linenumber" name="204" href="#204">204</a> checkRotationDS(createRotation(<strong class="jxr_keyword">new</strong> <strong class="jxr_keyword">double</strong>[][] {
+<a class="jxr_linenumber" name="205" href="#205">205</a> { 0.539200, 0.737280, 0.407040 },
+<a class="jxr_linenumber" name="206" href="#206">206</a> { 0.184320, -0.574912, 0.797184 },
+<a class="jxr_linenumber" name="207" href="#207">207</a> { 0.821760, -0.354816, -0.445888 }
+<a class="jxr_linenumber" name="208" href="#208">208</a> }, 1.0e-10),
+<a class="jxr_linenumber" name="209" href="#209">209</a> 0.36, 0.8, 0.288, 0.384);
+<a class="jxr_linenumber" name="210" href="#210">210</a>
+<a class="jxr_linenumber" name="211" href="#211">211</a> checkRotationDS(createRotation(<strong class="jxr_keyword">new</strong> <strong class="jxr_keyword">double</strong>[][] {
+<a class="jxr_linenumber" name="212" href="#212">212</a> { -0.445888, 0.797184, -0.407040 },
+<a class="jxr_linenumber" name="213" href="#213">213</a> { 0.354816, 0.574912, 0.737280 },
+<a class="jxr_linenumber" name="214" href="#214">214</a> { 0.821760, 0.184320, -0.539200 }
+<a class="jxr_linenumber" name="215" href="#215">215</a> }, 1.0e-10),
+<a class="jxr_linenumber" name="216" href="#216">216</a> 0.384, 0.36, 0.8, 0.288);
+<a class="jxr_linenumber" name="217" href="#217">217</a>
+<a class="jxr_linenumber" name="218" href="#218">218</a> checkRotationDS(createRotation(<strong class="jxr_keyword">new</strong> <strong class="jxr_keyword">double</strong>[][] {
+<a class="jxr_linenumber" name="219" href="#219">219</a> { -0.539200, 0.737280, 0.407040 },
+<a class="jxr_linenumber" name="220" href="#220">220</a> { -0.184320, -0.574912, 0.797184 },
+<a class="jxr_linenumber" name="221" href="#221">221</a> { 0.821760, 0.354816, 0.445888 }
+<a class="jxr_linenumber" name="222" href="#222">222</a> }, 1.0e-10),
+<a class="jxr_linenumber" name="223" href="#223">223</a> 0.288, 0.384, 0.36, 0.8);
+<a class="jxr_linenumber" name="224" href="#224">224</a>
+<a class="jxr_linenumber" name="225" href="#225">225</a> <strong class="jxr_keyword">double</strong>[][] m1 = { { 0.0, 1.0, 0.0 },
+<a class="jxr_linenumber" name="226" href="#226">226</a> { 0.0, 0.0, 1.0 },
+<a class="jxr_linenumber" name="227" href="#227">227</a> { 1.0, 0.0, 0.0 } };
+<a class="jxr_linenumber" name="228" href="#228">228</a> FieldRotation<Dfp> r = createRotation(m1, 1.0e-7);
+<a class="jxr_linenumber" name="229" href="#229">229</a> checkVector(r.applyTo(createVector(1, 0, 0)), createVector(0, 0, 1));
+<a class="jxr_linenumber" name="230" href="#230">230</a> checkVector(r.applyTo(createVector(0, 1, 0)), createVector(1, 0, 0));
+<a class="jxr_linenumber" name="231" href="#231">231</a> checkVector(r.applyTo(createVector(0, 0, 1)), createVector(0, 1, 0));
+<a class="jxr_linenumber" name="232" href="#232">232</a>
+<a class="jxr_linenumber" name="233" href="#233">233</a> <strong class="jxr_keyword">double</strong>[][] m2 = { { 0.83203, -0.55012, -0.07139 },
+<a class="jxr_linenumber" name="234" href="#234">234</a> { 0.48293, 0.78164, -0.39474 },
+<a class="jxr_linenumber" name="235" href="#235">235</a> { 0.27296, 0.29396, 0.91602 } };
+<a class="jxr_linenumber" name="236" href="#236">236</a> r = createRotation(m2, 1.0e-12);
+<a class="jxr_linenumber" name="237" href="#237">237</a>
+<a class="jxr_linenumber" name="238" href="#238">238</a> Dfp[][] m3 = r.getMatrix();
+<a class="jxr_linenumber" name="239" href="#239">239</a> <strong class="jxr_keyword">double</strong> d00 = m2[0][0] - m3[0][0].getReal();
+<a class="jxr_linenumber" name="240" href="#240">240</a> <strong class="jxr_keyword">double</strong> d01 = m2[0][1] - m3[0][1].getReal();
+<a class="jxr_linenumber" name="241" href="#241">241</a> <strong class="jxr_keyword">double</strong> d02 = m2[0][2] - m3[0][2].getReal();
+<a class="jxr_linenumber" name="242" href="#242">242</a> <strong class="jxr_keyword">double</strong> d10 = m2[1][0] - m3[1][0].getReal();
+<a class="jxr_linenumber" name="243" href="#243">243</a> <strong class="jxr_keyword">double</strong> d11 = m2[1][1] - m3[1][1].getReal();
+<a class="jxr_linenumber" name="244" href="#244">244</a> <strong class="jxr_keyword">double</strong> d12 = m2[1][2] - m3[1][2].getReal();
+<a class="jxr_linenumber" name="245" href="#245">245</a> <strong class="jxr_keyword">double</strong> d20 = m2[2][0] - m3[2][0].getReal();
+<a class="jxr_linenumber" name="246" href="#246">246</a> <strong class="jxr_keyword">double</strong> d21 = m2[2][1] - m3[2][1].getReal();
+<a class="jxr_linenumber" name="247" href="#247">247</a> <strong class="jxr_keyword">double</strong> d22 = m2[2][2] - m3[2][2].getReal();
+<a class="jxr_linenumber" name="248" href="#248">248</a>
+<a class="jxr_linenumber" name="249" href="#249">249</a> Assert.assertTrue(FastMath.abs(d00) < 6.0e-6);
+<a class="jxr_linenumber" name="250" href="#250">250</a> Assert.assertTrue(FastMath.abs(d01) < 6.0e-6);
+<a class="jxr_linenumber" name="251" href="#251">251</a> Assert.assertTrue(FastMath.abs(d02) < 6.0e-6);
+<a class="jxr_linenumber" name="252" href="#252">252</a> Assert.assertTrue(FastMath.abs(d10) < 6.0e-6);
+<a class="jxr_linenumber" name="253" href="#253">253</a> Assert.assertTrue(FastMath.abs(d11) < 6.0e-6);
+<a class="jxr_linenumber" name="254" href="#254">254</a> Assert.assertTrue(FastMath.abs(d12) < 6.0e-6);
+<a class="jxr_linenumber" name="255" href="#255">255</a> Assert.assertTrue(FastMath.abs(d20) < 6.0e-6);
+<a class="jxr_linenumber" name="256" href="#256">256</a> Assert.assertTrue(FastMath.abs(d21) < 6.0e-6);
+<a class="jxr_linenumber" name="257" href="#257">257</a> Assert.assertTrue(FastMath.abs(d22) < 6.0e-6);
+<a class="jxr_linenumber" name="258" href="#258">258</a>
+<a class="jxr_linenumber" name="259" href="#259">259</a> Assert.assertTrue(FastMath.abs(d00) > 4.0e-7);
+<a class="jxr_linenumber" name="260" href="#260">260</a> Assert.assertTrue(FastMath.abs(d01) > 4.0e-7);
+<a class="jxr_linenumber" name="261" href="#261">261</a> Assert.assertTrue(FastMath.abs(d02) > 4.0e-7);
+<a class="jxr_linenumber" name="262" href="#262">262</a> Assert.assertTrue(FastMath.abs(d10) > 4.0e-7);
+<a class="jxr_linenumber" name="263" href="#263">263</a> Assert.assertTrue(FastMath.abs(d11) > 4.0e-7);
+<a class="jxr_linenumber" name="264" href="#264">264</a> Assert.assertTrue(FastMath.abs(d12) > 4.0e-7);
+<a class="jxr_linenumber" name="265" href="#265">265</a> Assert.assertTrue(FastMath.abs(d20) > 4.0e-7);
+<a class="jxr_linenumber" name="266" href="#266">266</a> Assert.assertTrue(FastMath.abs(d21) > 4.0e-7);
+<a class="jxr_linenumber" name="267" href="#267">267</a> Assert.assertTrue(FastMath.abs(d22) > 4.0e-7);
+<a class="jxr_linenumber" name="268" href="#268">268</a>
+<a class="jxr_linenumber" name="269" href="#269">269</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">int</strong> i = 0; i < 3; ++i) {
+<a class="jxr_linenumber" name="270" href="#270">270</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">int</strong> j = 0; j < 3; ++j) {
+<a class="jxr_linenumber" name="271" href="#271">271</a> <strong class="jxr_keyword">double</strong> m3tm3 = m3[i][0].getReal() * m3[j][0].getReal() +
+<a class="jxr_linenumber" name="272" href="#272">272</a> m3[i][1].getReal() * m3[j][1].getReal() +
+<a class="jxr_linenumber" name="273" href="#273">273</a> m3[i][2].getReal() * m3[j][2].getReal();
+<a class="jxr_linenumber" name="274" href="#274">274</a> <strong class="jxr_keyword">if</strong> (i == j) {
+<a class="jxr_linenumber" name="275" href="#275">275</a> Assert.assertTrue(FastMath.abs(m3tm3 - 1.0) < 1.0e-10);
+<a class="jxr_linenumber" name="276" href="#276">276</a> } <strong class="jxr_keyword">else</strong> {
+<a class="jxr_linenumber" name="277" href="#277">277</a> Assert.assertTrue(FastMath.abs(m3tm3) < 1.0e-10);
+<a class="jxr_linenumber" name="278" href="#278">278</a> }
+<a class="jxr_linenumber" name="279" href="#279">279</a> }
+<a class="jxr_linenumber" name="280" href="#280">280</a> }
+<a class="jxr_linenumber" name="281" href="#281">281</a>
+<a class="jxr_linenumber" name="282" href="#282">282</a> checkVector(r.applyTo(createVector(1, 0, 0)),
+<a class="jxr_linenumber" name="283" href="#283">283</a> <strong class="jxr_keyword">new</strong> FieldVector3D<Dfp>(m3[0][0], m3[1][0], m3[2][0]));
+<a class="jxr_linenumber" name="284" href="#284">284</a> checkVector(r.applyTo(createVector(0, 1, 0)),
+<a class="jxr_linenumber" name="285" href="#285">285</a> <strong class="jxr_keyword">new</strong> FieldVector3D<Dfp>(m3[0][1], m3[1][1], m3[2][1]));
+<a class="jxr_linenumber" name="286" href="#286">286</a> checkVector(r.applyTo(createVector(0, 0, 1)),
+<a class="jxr_linenumber" name="287" href="#287">287</a> <strong class="jxr_keyword">new</strong> FieldVector3D<Dfp>(m3[0][2], m3[1][2], m3[2][2]));
+<a class="jxr_linenumber" name="288" href="#288">288</a>
+<a class="jxr_linenumber" name="289" href="#289">289</a> <strong class="jxr_keyword">double</strong>[][] m4 = { { 1.0, 0.0, 0.0 },
+<a class="jxr_linenumber" name="290" href="#290">290</a> { 0.0, -1.0, 0.0 },
+<a class="jxr_linenumber" name="291" href="#291">291</a> { 0.0, 0.0, -1.0 } };
+<a class="jxr_linenumber" name="292" href="#292">292</a> r = createRotation(m4, 1.0e-7);
+<a class="jxr_linenumber" name="293" href="#293">293</a> checkAngle(r.getAngle(), FastMath.PI);
+<a class="jxr_linenumber" name="294" href="#294">294</a>
+<a class="jxr_linenumber" name="295" href="#295">295</a> <strong class="jxr_keyword">try</strong> {
+<a class="jxr_linenumber" name="296" href="#296">296</a> <strong class="jxr_keyword">double</strong>[][] m5 = { { 0.0, 0.0, 1.0 },
+<a class="jxr_linenumber" name="297" href="#297">297</a> { 0.0, 1.0, 0.0 },
+<a class="jxr_linenumber" name="298" href="#298">298</a> { 1.0, 0.0, 0.0 } };
+<a class="jxr_linenumber" name="299" href="#299">299</a> r = createRotation(m5, 1.0e-7);
+<a class="jxr_linenumber" name="300" href="#300">300</a> Assert.fail(<span class="jxr_string">"got "</span> + r + <span class="jxr_string">", should have caught an exception"</span>);
+<a class="jxr_linenumber" name="301" href="#301">301</a> } <strong class="jxr_keyword">catch</strong> (NotARotationMatrixException e) {
+<a class="jxr_linenumber" name="302" href="#302">302</a> <em class="jxr_comment">// expected</em>
+<a class="jxr_linenumber" name="303" href="#303">303</a> }
+<a class="jxr_linenumber" name="304" href="#304">304</a>
+<a class="jxr_linenumber" name="305" href="#305">305</a> }
+<a class="jxr_linenumber" name="306" href="#306">306</a>
+<a class="jxr_linenumber" name="307" href="#307">307</a> @Test
+<a class="jxr_linenumber" name="308" href="#308">308</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testAngles()
+<a class="jxr_linenumber" name="309" href="#309">309</a> <strong class="jxr_keyword">throws</strong> CardanEulerSingularityException {
+<a class="jxr_linenumber" name="310" href="#310">310</a>
+<a class="jxr_linenumber" name="311" href="#311">311</a> DfpField field = <strong class="jxr_keyword">new</strong> DfpField(15);
+<a class="jxr_linenumber" name="312" href="#312">312</a>
+<a class="jxr_linenumber" name="313" href="#313">313</a> RotationOrder[] CardanOrders = {
+<a class="jxr_linenumber" name="314" href="#314">314</a> RotationOrder.XYZ, RotationOrder.XZY, RotationOrder.YXZ,
+<a class="jxr_linenumber" name="315" href="#315">315</a> RotationOrder.YZX, RotationOrder.ZXY, RotationOrder.ZYX
+<a class="jxr_linenumber" name="316" href="#316">316</a> };
+<a class="jxr_linenumber" name="317" href="#317">317</a>
+<a class="jxr_linenumber" name="318" href="#318">318</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">int</strong> i = 0; i < CardanOrders.length; ++i) {
+<a class="jxr_linenumber" name="319" href="#319">319</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> alpha1 = 0.1; alpha1 < 6.2; alpha1 += 2.0) {
+<a class="jxr_linenumber" name="320" href="#320">320</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> alpha2 = -1.55; alpha2 < 1.55; alpha2 += 0.8) {
+<a class="jxr_linenumber" name="321" href="#321">321</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> alpha3 = 0.1; alpha3 < 6.2; alpha3 += 2.0) {
+<a class="jxr_linenumber" name="322" href="#322">322</a> FieldRotation<Dfp> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(CardanOrders[i],
+<a class="jxr_linenumber" name="323" href="#323">323</a> field.newDfp(alpha1),
+<a class="jxr_linenumber" name="324" href="#324">324</a> field.newDfp(alpha2),
+<a class="jxr_linenumber" name="325" href="#325">325</a> field.newDfp(alpha3));
+<a class="jxr_linenumber" name="326" href="#326">326</a> Dfp[] angles = r.getAngles(CardanOrders[i]);
+<a class="jxr_linenumber" name="327" href="#327">327</a> checkAngle(angles[0], alpha1);
+<a class="jxr_linenumber" name="328" href="#328">328</a> checkAngle(angles[1], alpha2);
+<a class="jxr_linenumber" name="329" href="#329">329</a> checkAngle(angles[2], alpha3);
+<a class="jxr_linenumber" name="330" href="#330">330</a> }
+<a class="jxr_linenumber" name="331" href="#331">331</a> }
+<a class="jxr_linenumber" name="332" href="#332">332</a> }
+<a class="jxr_linenumber" name="333" href="#333">333</a> }
+<a class="jxr_linenumber" name="334" href="#334">334</a>
+<a class="jxr_linenumber" name="335" href="#335">335</a> RotationOrder[] EulerOrders = {
+<a class="jxr_linenumber" name="336" href="#336">336</a> RotationOrder.XYX, RotationOrder.XZX, RotationOrder.YXY,
+<a class="jxr_linenumber" name="337" href="#337">337</a> RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ
+<a class="jxr_linenumber" name="338" href="#338">338</a> };
+<a class="jxr_linenumber" name="339" href="#339">339</a>
+<a class="jxr_linenumber" name="340" href="#340">340</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">int</strong> i = 0; i < EulerOrders.length; ++i) {
+<a class="jxr_linenumber" name="341" href="#341">341</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> alpha1 = 0.1; alpha1 < 6.2; alpha1 += 2.0) {
+<a class="jxr_linenumber" name="342" href="#342">342</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> alpha2 = 0.05; alpha2 < 3.1; alpha2 += 0.8) {
+<a class="jxr_linenumber" name="343" href="#343">343</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> alpha3 = 0.1; alpha3 < 6.2; alpha3 += 2.0) {
+<a class="jxr_linenumber" name="344" href="#344">344</a> FieldRotation<Dfp> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(EulerOrders[i],
+<a class="jxr_linenumber" name="345" href="#345">345</a> field.newDfp(alpha1),
+<a class="jxr_linenumber" name="346" href="#346">346</a> field.newDfp(alpha2),
+<a class="jxr_linenumber" name="347" href="#347">347</a> field.newDfp(alpha3));
+<a class="jxr_linenumber" name="348" href="#348">348</a> Dfp[] angles = r.getAngles(EulerOrders[i]);
+<a class="jxr_linenumber" name="349" href="#349">349</a> checkAngle(angles[0], alpha1);
+<a class="jxr_linenumber" name="350" href="#350">350</a> checkAngle(angles[1], alpha2);
+<a class="jxr_linenumber" name="351" href="#351">351</a> checkAngle(angles[2], alpha3);
+<a class="jxr_linenumber" name="352" href="#352">352</a> }
+<a class="jxr_linenumber" name="353" href="#353">353</a> }
+<a class="jxr_linenumber" name="354" href="#354">354</a> }
+<a class="jxr_linenumber" name="355" href="#355">355</a> }
+<a class="jxr_linenumber" name="356" href="#356">356</a>
+<a class="jxr_linenumber" name="357" href="#357">357</a> }
+<a class="jxr_linenumber" name="358" href="#358">358</a>
+<a class="jxr_linenumber" name="359" href="#359">359</a> @Test
+<a class="jxr_linenumber" name="360" href="#360">360</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testSingularities() {
+<a class="jxr_linenumber" name="361" href="#361">361</a>
+<a class="jxr_linenumber" name="362" href="#362">362</a> DfpField field = <strong class="jxr_keyword">new</strong> DfpField(20);
+<a class="jxr_linenumber" name="363" href="#363">363</a> RotationOrder[] CardanOrders = {
+<a class="jxr_linenumber" name="364" href="#364">364</a> RotationOrder.XYZ, RotationOrder.XZY, RotationOrder.YXZ,
+<a class="jxr_linenumber" name="365" href="#365">365</a> RotationOrder.YZX, RotationOrder.ZXY, RotationOrder.ZYX
+<a class="jxr_linenumber" name="366" href="#366">366</a> };
+<a class="jxr_linenumber" name="367" href="#367">367</a>
+<a class="jxr_linenumber" name="368" href="#368">368</a> <strong class="jxr_keyword">double</strong>[] singularCardanAngle = { FastMath.PI / 2, -FastMath.PI / 2 };
+<a class="jxr_linenumber" name="369" href="#369">369</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">int</strong> i = 0; i < CardanOrders.length; ++i) {
+<a class="jxr_linenumber" name="370" href="#370">370</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">int</strong> j = 0; j < singularCardanAngle.length; ++j) {
+<a class="jxr_linenumber" name="371" href="#371">371</a> FieldRotation<Dfp> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(CardanOrders[i],
+<a class="jxr_linenumber" name="372" href="#372">372</a> field.newDfp(0.1),
+<a class="jxr_linenumber" name="373" href="#373">373</a> field.newDfp(singularCardanAngle[j]),
+<a class="jxr_linenumber" name="374" href="#374">374</a> field.newDfp(0.3));
+<a class="jxr_linenumber" name="375" href="#375">375</a> <strong class="jxr_keyword">try</strong> {
+<a class="jxr_linenumber" name="376" href="#376">376</a> r.getAngles(CardanOrders[i]);
+<a class="jxr_linenumber" name="377" href="#377">377</a> Assert.fail(<span class="jxr_string">"an exception should have been caught"</span>);
+<a class="jxr_linenumber" name="378" href="#378">378</a> } <strong class="jxr_keyword">catch</strong> (CardanEulerSingularityException cese) {
+<a class="jxr_linenumber" name="379" href="#379">379</a> <em class="jxr_comment">// expected behavior</em>
+<a class="jxr_linenumber" name="380" href="#380">380</a> }
+<a class="jxr_linenumber" name="381" href="#381">381</a> }
+<a class="jxr_linenumber" name="382" href="#382">382</a> }
+<a class="jxr_linenumber" name="383" href="#383">383</a>
+<a class="jxr_linenumber" name="384" href="#384">384</a> RotationOrder[] EulerOrders = {
+<a class="jxr_linenumber" name="385" href="#385">385</a> RotationOrder.XYX, RotationOrder.XZX, RotationOrder.YXY,
+<a class="jxr_linenumber" name="386" href="#386">386</a> RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ
+<a class="jxr_linenumber" name="387" href="#387">387</a> };
+<a class="jxr_linenumber" name="388" href="#388">388</a>
+<a class="jxr_linenumber" name="389" href="#389">389</a> <strong class="jxr_keyword">double</strong>[] singularEulerAngle = { 0, FastMath.PI };
+<a class="jxr_linenumber" name="390" href="#390">390</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">int</strong> i = 0; i < EulerOrders.length; ++i) {
+<a class="jxr_linenumber" name="391" href="#391">391</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">int</strong> j = 0; j < singularEulerAngle.length; ++j) {
+<a class="jxr_linenumber" name="392" href="#392">392</a> FieldRotation<Dfp> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(EulerOrders[i],
+<a class="jxr_linenumber" name="393" href="#393">393</a> field.newDfp(0.1),
+<a class="jxr_linenumber" name="394" href="#394">394</a> field.newDfp(singularEulerAngle[j]),
+<a class="jxr_linenumber" name="395" href="#395">395</a> field.newDfp(0.3));
+<a class="jxr_linenumber" name="396" href="#396">396</a> <strong class="jxr_keyword">try</strong> {
+<a class="jxr_linenumber" name="397" href="#397">397</a> r.getAngles(EulerOrders[i]);
+<a class="jxr_linenumber" name="398" href="#398">398</a> Assert.fail(<span class="jxr_string">"an exception should have been caught"</span>);
+<a class="jxr_linenumber" name="399" href="#399">399</a> } <strong class="jxr_keyword">catch</strong> (CardanEulerSingularityException cese) {
+<a class="jxr_linenumber" name="400" href="#400">400</a> <em class="jxr_comment">// expected behavior</em>
+<a class="jxr_linenumber" name="401" href="#401">401</a> }
+<a class="jxr_linenumber" name="402" href="#402">402</a> }
+<a class="jxr_linenumber" name="403" href="#403">403</a> }
+<a class="jxr_linenumber" name="404" href="#404">404</a>
+<a class="jxr_linenumber" name="405" href="#405">405</a>
+<a class="jxr_linenumber" name="406" href="#406">406</a> }
+<a class="jxr_linenumber" name="407" href="#407">407</a>
+<a class="jxr_linenumber" name="408" href="#408">408</a> @Test
+<a class="jxr_linenumber" name="409" href="#409">409</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testQuaternion() <strong class="jxr_keyword">throws</strong> MathIllegalArgumentException {
+<a class="jxr_linenumber" name="410" href="#410">410</a>
+<a class="jxr_linenumber" name="411" href="#411">411</a> FieldRotation<Dfp> r1 = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createVector(2, -3, 5), createAngle(1.7));
+<a class="jxr_linenumber" name="412" href="#412">412</a> <strong class="jxr_keyword">double</strong> n = 23.5;
+<a class="jxr_linenumber" name="413" href="#413">413</a> FieldRotation<Dfp> r2 = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(r1.getQ0().multiply(n), r1.getQ1().multiply(n),
+<a class="jxr_linenumber" name="414" href="#414">414</a> r1.getQ2().multiply(n), r1.getQ3().multiply(n),
+<a class="jxr_linenumber" name="415" href="#415">415</a> <strong class="jxr_keyword">true</strong>);
+<a class="jxr_linenumber" name="416" href="#416">416</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> x = -0.9; x < 0.9; x += 0.2) {
+<a class="jxr_linenumber" name="417" href="#417">417</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> y = -0.9; y < 0.9; y += 0.2) {
+<a class="jxr_linenumber" name="418" href="#418">418</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> z = -0.9; z < 0.9; z += 0.2) {
+<a class="jxr_linenumber" name="419" href="#419">419</a> FieldVector3D<Dfp> u = createVector(x, y, z);
+<a class="jxr_linenumber" name="420" href="#420">420</a> checkVector(r2.applyTo(u), r1.applyTo(u));
+<a class="jxr_linenumber" name="421" href="#421">421</a> }
+<a class="jxr_linenumber" name="422" href="#422">422</a> }
+<a class="jxr_linenumber" name="423" href="#423">423</a> }
+<a class="jxr_linenumber" name="424" href="#424">424</a>
+<a class="jxr_linenumber" name="425" href="#425">425</a> r1 = createRotation(0.288, 0.384, 0.36, 0.8, false);
+<a class="jxr_linenumber" name="426" href="#426">426</a> checkRotationDS(r1,
+<a class="jxr_linenumber" name="427" href="#427">427</a> -r1.getQ0().getReal(), -r1.getQ1().getReal(),
+<a class="jxr_linenumber" name="428" href="#428">428</a> -r1.getQ2().getReal(), -r1.getQ3().getReal());
+<a class="jxr_linenumber" name="429" href="#429">429</a>
+<a class="jxr_linenumber" name="430" href="#430">430</a> }
+<a class="jxr_linenumber" name="431" href="#431">431</a>
+<a class="jxr_linenumber" name="432" href="#432">432</a> @Test
+<a class="jxr_linenumber" name="433" href="#433">433</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testCompose() <strong class="jxr_keyword">throws</strong> MathIllegalArgumentException {
+<a class="jxr_linenumber" name="434" href="#434">434</a>
+<a class="jxr_linenumber" name="435" href="#435">435</a> FieldRotation<Dfp> r1 = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createVector(2, -3, 5), createAngle(1.7));
+<a class="jxr_linenumber" name="436" href="#436">436</a> FieldRotation<Dfp> r2 = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createVector(-1, 3, 2), createAngle(0.3));
+<a class="jxr_linenumber" name="437" href="#437">437</a> FieldRotation<Dfp> r3 = r2.applyTo(r1);
+<a class="jxr_linenumber" name="438" href="#438">438</a> FieldRotation<Dfp> r3Double = r2.applyTo(<strong class="jxr_keyword">new</strong> Rotation(r1.getQ0().getReal(),
+<a class="jxr_linenumber" name="439" href="#439">439</a> r1.getQ1().getReal(),
+<a class="jxr_linenumber" name="440" href="#440">440</a> r1.getQ2().getReal(),
+<a class="jxr_linenumber" name="441" href="#441">441</a> r1.getQ3().getReal(),
+<a class="jxr_linenumber" name="442" href="#442">442</a> false));
+<a class="jxr_linenumber" name="443" href="#443">443</a>
+<a class="jxr_linenumber" name="444" href="#444">444</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> x = -0.9; x < 0.9; x += 0.2) {
+<a class="jxr_linenumber" name="445" href="#445">445</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> y = -0.9; y < 0.9; y += 0.2) {
+<a class="jxr_linenumber" name="446" href="#446">446</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> z = -0.9; z < 0.9; z += 0.2) {
+<a class="jxr_linenumber" name="447" href="#447">447</a> FieldVector3D<Dfp> u = createVector(x, y, z);
+<a class="jxr_linenumber" name="448" href="#448">448</a> checkVector(r2.applyTo(r1.applyTo(u)), r3.applyTo(u));
+<a class="jxr_linenumber" name="449" href="#449">449</a> checkVector(r2.applyTo(r1.applyTo(u)), r3Double.applyTo(u));
+<a class="jxr_linenumber" name="450" href="#450">450</a> }
+<a class="jxr_linenumber" name="451" href="#451">451</a> }
+<a class="jxr_linenumber" name="452" href="#452">452</a> }
+<a class="jxr_linenumber" name="453" href="#453">453</a>
+<a class="jxr_linenumber" name="454" href="#454">454</a> }
+<a class="jxr_linenumber" name="455" href="#455">455</a>
+<a class="jxr_linenumber" name="456" href="#456">456</a> @Test
+<a class="jxr_linenumber" name="457" href="#457">457</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testComposeInverse() <strong class="jxr_keyword">throws</strong> MathIllegalArgumentException {
+<a class="jxr_linenumber" name="458" href="#458">458</a>
+<a class="jxr_linenumber" name="459" href="#459">459</a> FieldRotation<Dfp> r1 = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createVector(2, -3, 5), createAngle(1.7));
+<a class="jxr_linenumber" name="460" href="#460">460</a> FieldRotation<Dfp> r2 = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createVector(-1, 3, 2), createAngle(0.3));
+<a class="jxr_linenumber" name="461" href="#461">461</a> FieldRotation<Dfp> r3 = r2.applyInverseTo(r1);
+<a class="jxr_linenumber" name="462" href="#462">462</a> FieldRotation<Dfp> r3Double = r2.applyInverseTo(<strong class="jxr_keyword">new</strong> Rotation(r1.getQ0().getReal(),
+<a class="jxr_linenumber" name="463" href="#463">463</a> r1.getQ1().getReal(),
+<a class="jxr_linenumber" name="464" href="#464">464</a> r1.getQ2().getReal(),
+<a class="jxr_linenumber" name="465" href="#465">465</a> r1.getQ3().getReal(),
+<a class="jxr_linenumber" name="466" href="#466">466</a> false));
+<a class="jxr_linenumber" name="467" href="#467">467</a>
+<a class="jxr_linenumber" name="468" href="#468">468</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> x = -0.9; x < 0.9; x += 0.2) {
+<a class="jxr_linenumber" name="469" href="#469">469</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> y = -0.9; y < 0.9; y += 0.2) {
+<a class="jxr_linenumber" name="470" href="#470">470</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> z = -0.9; z < 0.9; z += 0.2) {
+<a class="jxr_linenumber" name="471" href="#471">471</a> FieldVector3D<Dfp> u = createVector(x, y, z);
+<a class="jxr_linenumber" name="472" href="#472">472</a> checkVector(r2.applyInverseTo(r1.applyTo(u)), r3.applyTo(u));
+<a class="jxr_linenumber" name="473" href="#473">473</a> checkVector(r2.applyInverseTo(r1.applyTo(u)), r3Double.applyTo(u));
+<a class="jxr_linenumber" name="474" href="#474">474</a> }
+<a class="jxr_linenumber" name="475" href="#475">475</a> }
+<a class="jxr_linenumber" name="476" href="#476">476</a> }
+<a class="jxr_linenumber" name="477" href="#477">477</a>
+<a class="jxr_linenumber" name="478" href="#478">478</a> }
+<a class="jxr_linenumber" name="479" href="#479">479</a>
+<a class="jxr_linenumber" name="480" href="#480">480</a> @Test
+<a class="jxr_linenumber" name="481" href="#481">481</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testDoubleVectors() <strong class="jxr_keyword">throws</strong> MathIllegalArgumentException {
+<a class="jxr_linenumber" name="482" href="#482">482</a>
+<a class="jxr_linenumber" name="483" href="#483">483</a> Well1024a random = <strong class="jxr_keyword">new</strong> Well1024a(0x180b41cfeeffaf67l);
+<a class="jxr_linenumber" name="484" href="#484">484</a> UnitSphereRandomVectorGenerator g = <strong class="jxr_keyword">new</strong> UnitSphereRandomVectorGenerator(3, random);
+<a class="jxr_linenumber" name="485" href="#485">485</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">int</strong> i = 0; i < 10; ++i) {
+<a class="jxr_linenumber" name="486" href="#486">486</a> <strong class="jxr_keyword">double</strong>[] unit = g.nextVector();
+<a class="jxr_linenumber" name="487" href="#487">487</a> FieldRotation<Dfp> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createVector(unit[0], unit[1], unit[2]),
+<a class="jxr_linenumber" name="488" href="#488">488</a> createAngle(random.nextDouble()));
+<a class="jxr_linenumber" name="489" href="#489">489</a>
+<a class="jxr_linenumber" name="490" href="#490">490</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> x = -0.9; x < 0.9; x += 0.4) {
+<a class="jxr_linenumber" name="491" href="#491">491</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> y = -0.9; y < 0.9; y += 0.4) {
+<a class="jxr_linenumber" name="492" href="#492">492</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> z = -0.9; z < 0.9; z += 0.4) {
+<a class="jxr_linenumber" name="493" href="#493">493</a> FieldVector3D<Dfp> uds = createVector(x, y, z);
+<a class="jxr_linenumber" name="494" href="#494">494</a> FieldVector3D<Dfp> ruds = r.applyTo(uds);
+<a class="jxr_linenumber" name="495" href="#495">495</a> FieldVector3D<Dfp> rIuds = r.applyInverseTo(uds);
+<a class="jxr_linenumber" name="496" href="#496">496</a> Vector3D u = <strong class="jxr_keyword">new</strong> Vector3D(x, y, z);
+<a class="jxr_linenumber" name="497" href="#497">497</a> FieldVector3D<Dfp> ru = r.applyTo(u);
+<a class="jxr_linenumber" name="498" href="#498">498</a> FieldVector3D<Dfp> rIu = r.applyInverseTo(u);
+<a class="jxr_linenumber" name="499" href="#499">499</a> Dfp[] ruArray = <strong class="jxr_keyword">new</strong> Dfp[3];
+<a class="jxr_linenumber" name="500" href="#500">500</a> r.applyTo(<strong class="jxr_keyword">new</strong> <strong class="jxr_keyword">double</strong>[] { x, y, z}, ruArray);
+<a class="jxr_linenumber" name="501" href="#501">501</a> Dfp[] rIuArray = <strong class="jxr_keyword">new</strong> Dfp[3];
+<a class="jxr_linenumber" name="502" href="#502">502</a> r.applyInverseTo(<strong class="jxr_keyword">new</strong> <strong class="jxr_keyword">double</strong>[] { x, y, z}, rIuArray);
+<a class="jxr_linenumber" name="503" href="#503">503</a> checkVector(ruds, ru);
+<a class="jxr_linenumber" name="504" href="#504">504</a> checkVector(ruds, <strong class="jxr_keyword">new</strong> FieldVector3D<Dfp>(ruArray));
+<a class="jxr_linenumber" name="505" href="#505">505</a> checkVector(rIuds, rIu);
+<a class="jxr_linenumber" name="506" href="#506">506</a> checkVector(rIuds, <strong class="jxr_keyword">new</strong> FieldVector3D<Dfp>(rIuArray));
+<a class="jxr_linenumber" name="507" href="#507">507</a> }
+<a class="jxr_linenumber" name="508" href="#508">508</a> }
+<a class="jxr_linenumber" name="509" href="#509">509</a> }
+<a class="jxr_linenumber" name="510" href="#510">510</a> }
+<a class="jxr_linenumber" name="511" href="#511">511</a>
+<a class="jxr_linenumber" name="512" href="#512">512</a> }
+<a class="jxr_linenumber" name="513" href="#513">513</a>
+<a class="jxr_linenumber" name="514" href="#514">514</a> @Test
+<a class="jxr_linenumber" name="515" href="#515">515</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testDoubleRotations() <strong class="jxr_keyword">throws</strong> MathIllegalArgumentException {
+<a class="jxr_linenumber" name="516" href="#516">516</a>
+<a class="jxr_linenumber" name="517" href="#517">517</a> DfpField field = <strong class="jxr_keyword">new</strong> DfpField(20);
+<a class="jxr_linenumber" name="518" href="#518">518</a> Well1024a random = <strong class="jxr_keyword">new</strong> Well1024a(0x180b41cfeeffaf67l);
+<a class="jxr_linenumber" name="519" href="#519">519</a> UnitSphereRandomVectorGenerator g = <strong class="jxr_keyword">new</strong> UnitSphereRandomVectorGenerator(3, random);
+<a class="jxr_linenumber" name="520" href="#520">520</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">int</strong> i = 0; i < 10; ++i) {
+<a class="jxr_linenumber" name="521" href="#521">521</a> <strong class="jxr_keyword">double</strong>[] unit1 = g.nextVector();
+<a class="jxr_linenumber" name="522" href="#522">522</a> Rotation r1 = <strong class="jxr_keyword">new</strong> Rotation(<strong class="jxr_keyword">new</strong> Vector3D(unit1[0], unit1[1], unit1[2]),
+<a class="jxr_linenumber" name="523" href="#523">523</a> random.nextDouble());
+<a class="jxr_linenumber" name="524" href="#524">524</a> FieldRotation<Dfp> r1Prime = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(field.newDfp(r1.getQ0()),
+<a class="jxr_linenumber" name="525" href="#525">525</a> field.newDfp(r1.getQ1()),
+<a class="jxr_linenumber" name="526" href="#526">526</a> field.newDfp(r1.getQ2()),
+<a class="jxr_linenumber" name="527" href="#527">527</a> field.newDfp(r1.getQ3()),
+<a class="jxr_linenumber" name="528" href="#528">528</a> false);
+<a class="jxr_linenumber" name="529" href="#529">529</a> <strong class="jxr_keyword">double</strong>[] unit2 = g.nextVector();
+<a class="jxr_linenumber" name="530" href="#530">530</a> FieldRotation<Dfp> r2 = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createVector(unit2[0], unit2[1], unit2[2]),
+<a class="jxr_linenumber" name="531" href="#531">531</a> createAngle(random.nextDouble()));
+<a class="jxr_linenumber" name="532" href="#532">532</a>
+<a class="jxr_linenumber" name="533" href="#533">533</a> FieldRotation<Dfp> rA = FieldRotation.applyTo(r1, r2);
+<a class="jxr_linenumber" name="534" href="#534">534</a> FieldRotation<Dfp> rB = r1Prime.applyTo(r2);
+<a class="jxr_linenumber" name="535" href="#535">535</a> FieldRotation<Dfp> rC = FieldRotation.applyInverseTo(r1, r2);
+<a class="jxr_linenumber" name="536" href="#536">536</a> FieldRotation<Dfp> rD = r1Prime.applyInverseTo(r2);
+<a class="jxr_linenumber" name="537" href="#537">537</a>
+<a class="jxr_linenumber" name="538" href="#538">538</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> x = -0.9; x < 0.9; x += 0.4) {
+<a class="jxr_linenumber" name="539" href="#539">539</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> y = -0.9; y < 0.9; y += 0.4) {
+<a class="jxr_linenumber" name="540" href="#540">540</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> z = -0.9; z < 0.9; z += 0.4) {
+<a class="jxr_linenumber" name="541" href="#541">541</a>
+<a class="jxr_linenumber" name="542" href="#542">542</a> FieldVector3D<Dfp> uds = createVector(x, y, z);
+<a class="jxr_linenumber" name="543" href="#543">543</a> checkVector(r1Prime.applyTo(uds), FieldRotation.applyTo(r1, uds));
+<a class="jxr_linenumber" name="544" href="#544">544</a> checkVector(r1Prime.applyInverseTo(uds), FieldRotation.applyInverseTo(r1, uds));
+<a class="jxr_linenumber" name="545" href="#545">545</a> checkVector(rA.applyTo(uds), rB.applyTo(uds));
+<a class="jxr_linenumber" name="546" href="#546">546</a> checkVector(rA.applyInverseTo(uds), rB.applyInverseTo(uds));
+<a class="jxr_linenumber" name="547" href="#547">547</a> checkVector(rC.applyTo(uds), rD.applyTo(uds));
+<a class="jxr_linenumber" name="548" href="#548">548</a> checkVector(rC.applyInverseTo(uds), rD.applyInverseTo(uds));
+<a class="jxr_linenumber" name="549" href="#549">549</a>
+<a class="jxr_linenumber" name="550" href="#550">550</a> }
+<a class="jxr_linenumber" name="551" href="#551">551</a> }
+<a class="jxr_linenumber" name="552" href="#552">552</a> }
+<a class="jxr_linenumber" name="553" href="#553">553</a> }
+<a class="jxr_linenumber" name="554" href="#554">554</a>
+<a class="jxr_linenumber" name="555" href="#555">555</a> }
+<a class="jxr_linenumber" name="556" href="#556">556</a>
+<a class="jxr_linenumber" name="557" href="#557">557</a> @Test
+<a class="jxr_linenumber" name="558" href="#558">558</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testArray() <strong class="jxr_keyword">throws</strong> MathIllegalArgumentException {
+<a class="jxr_linenumber" name="559" href="#559">559</a>
+<a class="jxr_linenumber" name="560" href="#560">560</a> FieldRotation<Dfp> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createAxis(2, -3, 5), createAngle(1.7));
+<a class="jxr_linenumber" name="561" href="#561">561</a>
+<a class="jxr_linenumber" name="562" href="#562">562</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> x = -0.9; x < 0.9; x += 0.2) {
+<a class="jxr_linenumber" name="563" href="#563">563</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> y = -0.9; y < 0.9; y += 0.2) {
+<a class="jxr_linenumber" name="564" href="#564">564</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> z = -0.9; z < 0.9; z += 0.2) {
+<a class="jxr_linenumber" name="565" href="#565">565</a> FieldVector3D<Dfp> u = createVector(x, y, z);
+<a class="jxr_linenumber" name="566" href="#566">566</a> FieldVector3D<Dfp> v = r.applyTo(u);
+<a class="jxr_linenumber" name="567" href="#567">567</a> Dfp[] out = <strong class="jxr_keyword">new</strong> Dfp[3];
+<a class="jxr_linenumber" name="568" href="#568">568</a> r.applyTo(<strong class="jxr_keyword">new</strong> Dfp[] { u.getX(), u.getY(), u.getZ() }, out);
+<a class="jxr_linenumber" name="569" href="#569">569</a> Assert.assertEquals(v.getX().getReal(), out[0].getReal(), 1.0e-10);
+<a class="jxr_linenumber" name="570" href="#570">570</a> Assert.assertEquals(v.getY().getReal(), out[1].getReal(), 1.0e-10);
+<a class="jxr_linenumber" name="571" href="#571">571</a> Assert.assertEquals(v.getZ().getReal(), out[2].getReal(), 1.0e-10);
+<a class="jxr_linenumber" name="572" href="#572">572</a> r.applyInverseTo(out, out);
+<a class="jxr_linenumber" name="573" href="#573">573</a> Assert.assertEquals(u.getX().getReal(), out[0].getReal(), 1.0e-10);
+<a class="jxr_linenumber" name="574" href="#574">574</a> Assert.assertEquals(u.getY().getReal(), out[1].getReal(), 1.0e-10);
+<a class="jxr_linenumber" name="575" href="#575">575</a> Assert.assertEquals(u.getZ().getReal(), out[2].getReal(), 1.0e-10);
+<a class="jxr_linenumber" name="576" href="#576">576</a> }
+<a class="jxr_linenumber" name="577" href="#577">577</a> }
+<a class="jxr_linenumber" name="578" href="#578">578</a> }
+<a class="jxr_linenumber" name="579" href="#579">579</a>
+<a class="jxr_linenumber" name="580" href="#580">580</a> }
+<a class="jxr_linenumber" name="581" href="#581">581</a>
+<a class="jxr_linenumber" name="582" href="#582">582</a> @Test
+<a class="jxr_linenumber" name="583" href="#583">583</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testApplyInverseTo() <strong class="jxr_keyword">throws</strong> MathIllegalArgumentException {
+<a class="jxr_linenumber" name="584" href="#584">584</a>
+<a class="jxr_linenumber" name="585" href="#585">585</a> Dfp[] in = <strong class="jxr_keyword">new</strong> Dfp[3];
+<a class="jxr_linenumber" name="586" href="#586">586</a> Dfp[] out = <strong class="jxr_keyword">new</strong> Dfp[3];
+<a class="jxr_linenumber" name="587" href="#587">587</a> Dfp[] rebuilt = <strong class="jxr_keyword">new</strong> Dfp[3];
+<a class="jxr_linenumber" name="588" href="#588">588</a> FieldRotation<Dfp> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createVector(2, -3, 5), createAngle(1.7));
+<a class="jxr_linenumber" name="589" href="#589">589</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> lambda = 0; lambda < 6.2; lambda += 0.2) {
+<a class="jxr_linenumber" name="590" href="#590">590</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> phi = -1.55; phi < 1.55; phi += 0.2) {
+<a class="jxr_linenumber" name="591" href="#591">591</a> FieldVector3D<Dfp> u = createVector(FastMath.cos(lambda) * FastMath.cos(phi),
+<a class="jxr_linenumber" name="592" href="#592">592</a> FastMath.sin(lambda) * FastMath.cos(phi),
+<a class="jxr_linenumber" name="593" href="#593">593</a> FastMath.sin(phi));
+<a class="jxr_linenumber" name="594" href="#594">594</a> r.applyInverseTo(r.applyTo(u));
+<a class="jxr_linenumber" name="595" href="#595">595</a> checkVector(u, r.applyInverseTo(r.applyTo(u)));
+<a class="jxr_linenumber" name="596" href="#596">596</a> checkVector(u, r.applyTo(r.applyInverseTo(u)));
+<a class="jxr_linenumber" name="597" href="#597">597</a> in[0] = u.getX();
+<a class="jxr_linenumber" name="598" href="#598">598</a> in[1] = u.getY();
+<a class="jxr_linenumber" name="599" href="#599">599</a> in[2] = u.getZ();
+<a class="jxr_linenumber" name="600" href="#600">600</a> r.applyTo(in, out);
+<a class="jxr_linenumber" name="601" href="#601">601</a> r.applyInverseTo(out, rebuilt);
+<a class="jxr_linenumber" name="602" href="#602">602</a> Assert.assertEquals(in[0].getReal(), rebuilt[0].getReal(), 1.0e-12);
+<a class="jxr_linenumber" name="603" href="#603">603</a> Assert.assertEquals(in[1].getReal(), rebuilt[1].getReal(), 1.0e-12);
+<a class="jxr_linenumber" name="604" href="#604">604</a> Assert.assertEquals(in[2].getReal(), rebuilt[2].getReal(), 1.0e-12);
+<a class="jxr_linenumber" name="605" href="#605">605</a> }
+<a class="jxr_linenumber" name="606" href="#606">606</a> }
+<a class="jxr_linenumber" name="607" href="#607">607</a>
+<a class="jxr_linenumber" name="608" href="#608">608</a> r = createRotation(1, 0, 0, 0, false);
+<a class="jxr_linenumber" name="609" href="#609">609</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> lambda = 0; lambda < 6.2; lambda += 0.2) {
+<a class="jxr_linenumber" name="610" href="#610">610</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> phi = -1.55; phi < 1.55; phi += 0.2) {
+<a class="jxr_linenumber" name="611" href="#611">611</a> FieldVector3D<Dfp> u = createVector(FastMath.cos(lambda) * FastMath.cos(phi),
+<a class="jxr_linenumber" name="612" href="#612">612</a> FastMath.sin(lambda) * FastMath.cos(phi),
+<a class="jxr_linenumber" name="613" href="#613">613</a> FastMath.sin(phi));
+<a class="jxr_linenumber" name="614" href="#614">614</a> checkVector(u, r.applyInverseTo(r.applyTo(u)));
+<a class="jxr_linenumber" name="615" href="#615">615</a> checkVector(u, r.applyTo(r.applyInverseTo(u)));
+<a class="jxr_linenumber" name="616" href="#616">616</a> }
+<a class="jxr_linenumber" name="617" href="#617">617</a> }
+<a class="jxr_linenumber" name="618" href="#618">618</a>
+<a class="jxr_linenumber" name="619" href="#619">619</a> r = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(createVector(0, 0, 1), createAngle(FastMath.PI));
+<a class="jxr_linenumber" name="620" href="#620">620</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> lambda = 0; lambda < 6.2; lambda += 0.2) {
+<a class="jxr_linenumber" name="621" href="#621">621</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">double</strong> phi = -1.55; phi < 1.55; phi += 0.2) {
+<a class="jxr_linenumber" name="622" href="#622">622</a> FieldVector3D<Dfp> u = createVector(FastMath.cos(lambda) * FastMath.cos(phi),
+<a class="jxr_linenumber" name="623" href="#623">623</a> FastMath.sin(lambda) * FastMath.cos(phi),
+<a class="jxr_linenumber" name="624" href="#624">624</a> FastMath.sin(phi));
+<a class="jxr_linenumber" name="625" href="#625">625</a> checkVector(u, r.applyInverseTo(r.applyTo(u)));
+<a class="jxr_linenumber" name="626" href="#626">626</a> checkVector(u, r.applyTo(r.applyInverseTo(u)));
+<a class="jxr_linenumber" name="627" href="#627">627</a> }
+<a class="jxr_linenumber" name="628" href="#628">628</a> }
+<a class="jxr_linenumber" name="629" href="#629">629</a>
+<a class="jxr_linenumber" name="630" href="#630">630</a> }
+<a class="jxr_linenumber" name="631" href="#631">631</a>
+<a class="jxr_linenumber" name="632" href="#632">632</a> @Test
+<a class="jxr_linenumber" name="633" href="#633">633</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testIssue639() <strong class="jxr_keyword">throws</strong> MathArithmeticException{
+<a class="jxr_linenumber" name="634" href="#634">634</a> FieldVector3D<Dfp> u1 = createVector(-1321008684645961.0 / 268435456.0,
+<a class="jxr_linenumber" name="635" href="#635">635</a> -5774608829631843.0 / 268435456.0,
+<a class="jxr_linenumber" name="636" href="#636">636</a> -3822921525525679.0 / 4294967296.0);
+<a class="jxr_linenumber" name="637" href="#637">637</a> FieldVector3D<Dfp> u2 =createVector( -5712344449280879.0 / 2097152.0,
+<a class="jxr_linenumber" name="638" href="#638">638</a> -2275058564560979.0 / 1048576.0,
+<a class="jxr_linenumber" name="639" href="#639">639</a> 4423475992255071.0 / 65536.0);
+<a class="jxr_linenumber" name="640" href="#640">640</a> FieldRotation<Dfp> rot = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(u1, u2, createVector(1, 0, 0),createVector(0, 0, 1));
+<a class="jxr_linenumber" name="641" href="#641">641</a> Assert.assertEquals( 0.6228370359608200639829222, rot.getQ0().getReal(), 1.0e-15);
+<a class="jxr_linenumber" name="642" href="#642">642</a> Assert.assertEquals( 0.0257707621456498790029987, rot.getQ1().getReal(), 1.0e-15);
+<a class="jxr_linenumber" name="643" href="#643">643</a> Assert.assertEquals(-0.0000000002503012255839931, rot.getQ2().getReal(), 1.0e-15);
+<a class="jxr_linenumber" name="644" href="#644">644</a> Assert.assertEquals(-0.7819270390861109450724902, rot.getQ3().getReal(), 1.0e-15);
+<a class="jxr_linenumber" name="645" href="#645">645</a> }
+<a class="jxr_linenumber" name="646" href="#646">646</a>
+<a class="jxr_linenumber" name="647" href="#647">647</a> @Test
+<a class="jxr_linenumber" name="648" href="#648">648</a> <strong class="jxr_keyword">public</strong> <strong class="jxr_keyword">void</strong> testIssue801() <strong class="jxr_keyword">throws</strong> MathArithmeticException {
+<a class="jxr_linenumber" name="649" href="#649">649</a> FieldVector3D<Dfp> u1 = createVector(0.9999988431610581, -0.0015210774290851095, 0.0);
+<a class="jxr_linenumber" name="650" href="#650">650</a> FieldVector3D<Dfp> u2 = createVector(0.0, 0.0, 1.0);
+<a class="jxr_linenumber" name="651" href="#651">651</a>
+<a class="jxr_linenumber" name="652" href="#652">652</a> FieldVector3D<Dfp> v1 = createVector(0.9999999999999999, 0.0, 0.0);
+<a class="jxr_linenumber" name="653" href="#653">653</a> FieldVector3D<Dfp> v2 = createVector(0.0, 0.0, -1.0);
+<a class="jxr_linenumber" name="654" href="#654">654</a>
+<a class="jxr_linenumber" name="655" href="#655">655</a> FieldRotation<Dfp> quat = <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(u1, u2, v1, v2);
+<a class="jxr_linenumber" name="656" href="#656">656</a> <strong class="jxr_keyword">double</strong> q2 = quat.getQ0().getReal() * quat.getQ0().getReal() +
+<a class="jxr_linenumber" name="657" href="#657">657</a> quat.getQ1().getReal() * quat.getQ1().getReal() +
+<a class="jxr_linenumber" name="658" href="#658">658</a> quat.getQ2().getReal() * quat.getQ2().getReal() +
+<a class="jxr_linenumber" name="659" href="#659">659</a> quat.getQ3().getReal() * quat.getQ3().getReal();
+<a class="jxr_linenumber" name="660" href="#660">660</a> Assert.assertEquals(1.0, q2, 1.0e-14);
+<a class="jxr_linenumber" name="661" href="#661">661</a> Assert.assertEquals(0.0, FieldVector3D.angle(v1, quat.applyTo(u1)).getReal(), 1.0e-14);
+<a class="jxr_linenumber" name="662" href="#662">662</a> Assert.assertEquals(0.0, FieldVector3D.angle(v2, quat.applyTo(u2)).getReal(), 1.0e-14);
+<a class="jxr_linenumber" name="663" href="#663">663</a>
+<a class="jxr_linenumber" name="664" href="#664">664</a> }
+<a class="jxr_linenumber" name="665" href="#665">665</a>
+<a class="jxr_linenumber" name="666" href="#666">666</a> <strong class="jxr_keyword">private</strong> <strong class="jxr_keyword">void</strong> checkAngle(Dfp a1, <strong class="jxr_keyword">double</strong> a2) {
+<a class="jxr_linenumber" name="667" href="#667">667</a> Assert.assertEquals(a1.getReal(), MathUtils.normalizeAngle(a2, a1.getReal()), 1.0e-10);
+<a class="jxr_linenumber" name="668" href="#668">668</a> }
+<a class="jxr_linenumber" name="669" href="#669">669</a>
+<a class="jxr_linenumber" name="670" href="#670">670</a> <strong class="jxr_keyword">private</strong> <strong class="jxr_keyword">void</strong> checkRotationDS(FieldRotation<Dfp> r, <strong class="jxr_keyword">double</strong> q0, <strong class="jxr_keyword">double</strong> q1, <strong class="jxr_keyword">double</strong> q2, <strong class="jxr_keyword">double</strong> q3) {
+<a class="jxr_linenumber" name="671" href="#671">671</a> FieldRotation<Dfp> rPrime = createRotation(q0, q1, q2, q3, false);
+<a class="jxr_linenumber" name="672" href="#672">672</a> Assert.assertEquals(0, FieldRotation.distance(r, rPrime).getReal(), 1.0e-12);
+<a class="jxr_linenumber" name="673" href="#673">673</a> }
+<a class="jxr_linenumber" name="674" href="#674">674</a>
+<a class="jxr_linenumber" name="675" href="#675">675</a> <strong class="jxr_keyword">private</strong> FieldRotation<Dfp> createRotation(<strong class="jxr_keyword">double</strong> q0, <strong class="jxr_keyword">double</strong> q1, <strong class="jxr_keyword">double</strong> q2, <strong class="jxr_keyword">double</strong> q3,
+<a class="jxr_linenumber" name="676" href="#676">676</a> <strong class="jxr_keyword">boolean</strong> needsNormalization) {
+<a class="jxr_linenumber" name="677" href="#677">677</a> DfpField field = <strong class="jxr_keyword">new</strong> DfpField(20);
+<a class="jxr_linenumber" name="678" href="#678">678</a> <strong class="jxr_keyword">return</strong> <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(field.newDfp(q0),
+<a class="jxr_linenumber" name="679" href="#679">679</a> field.newDfp(q1),
+<a class="jxr_linenumber" name="680" href="#680">680</a> field.newDfp(q2),
+<a class="jxr_linenumber" name="681" href="#681">681</a> field.newDfp(q3),
+<a class="jxr_linenumber" name="682" href="#682">682</a> needsNormalization);
+<a class="jxr_linenumber" name="683" href="#683">683</a> }
+<a class="jxr_linenumber" name="684" href="#684">684</a>
+<a class="jxr_linenumber" name="685" href="#685">685</a> <strong class="jxr_keyword">private</strong> FieldRotation<Dfp> createRotation(<strong class="jxr_keyword">double</strong>[][] m, <strong class="jxr_keyword">double</strong> threshold) {
+<a class="jxr_linenumber" name="686" href="#686">686</a> DfpField field = <strong class="jxr_keyword">new</strong> DfpField(20);
+<a class="jxr_linenumber" name="687" href="#687">687</a> Dfp[][] mds = <strong class="jxr_keyword">new</strong> Dfp[m.length][m[0].length];
+<a class="jxr_linenumber" name="688" href="#688">688</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">int</strong> i = 0; i < m.length; ++i) {
+<a class="jxr_linenumber" name="689" href="#689">689</a> <strong class="jxr_keyword">for</strong> (<strong class="jxr_keyword">int</strong> j = 0; j < m[i].length; ++j) {
+<a class="jxr_linenumber" name="690" href="#690">690</a> mds[i][j] = field.newDfp(m[i][j]);
+<a class="jxr_linenumber" name="691" href="#691">691</a> }
+<a class="jxr_linenumber" name="692" href="#692">692</a> }
+<a class="jxr_linenumber" name="693" href="#693">693</a> <strong class="jxr_keyword">return</strong> <strong class="jxr_keyword">new</strong> FieldRotation<Dfp>(mds, threshold);
+<a class="jxr_linenumber" name="694" href="#694">694</a> }
+<a class="jxr_linenumber" name="695" href="#695">695</a>
+<a class="jxr_linenumber" name="696" href="#696">696</a> <strong class="jxr_keyword">private</strong> FieldVector3D<Dfp> createVector(<strong class="jxr_keyword">double</strong> x, <strong class="jxr_keyword">double</strong> y, <strong class="jxr_keyword">double</strong> z) {
+<a class="jxr_linenumber" name="697" href="#697">697</a> DfpField field = <strong class="jxr_keyword">new</strong> DfpField(20);
+<a class="jxr_linenumber" name="698" href="#698">698</a> <strong class="jxr_keyword">return</strong> <strong class="jxr_keyword">new</strong> FieldVector3D<Dfp>(field.newDfp(x), field.newDfp(y), field.newDfp(z));
+<a class="jxr_linenumber" name="699" href="#699">699</a> }
+<a class="jxr_linenumber" name="700" href="#700">700</a>
+<a class="jxr_linenumber" name="701" href="#701">701</a> <strong class="jxr_keyword">private</strong> FieldVector3D<Dfp> createAxis(<strong class="jxr_keyword">double</strong> x, <strong class="jxr_keyword">double</strong> y, <strong class="jxr_keyword">double</strong> z) {
+<a class="jxr_linenumber" name="702" href="#702">702</a> DfpField field = <strong class="jxr_keyword">new</strong> DfpField(20);
+<a class="jxr_linenumber" name="703" href="#703">703</a> <strong class="jxr_keyword">return</strong> <strong class="jxr_keyword">new</strong> FieldVector3D<Dfp>(field.newDfp(x), field.newDfp(y), field.newDfp(z));
+<a class="jxr_linenumber" name="704" href="#704">704</a> }
+<a class="jxr_linenumber" name="705" href="#705">705</a>
+<a class="jxr_linenumber" name="706" href="#706">706</a> <strong class="jxr_keyword">private</strong> Dfp createAngle(<strong class="jxr_keyword">double</strong> alpha) {
+<a class="jxr_linenumber" name="707" href="#707">707</a> <strong class="jxr_keyword">return</strong> <strong class="jxr_keyword">new</strong> DfpField(20).newDfp(alpha);
+<a class="jxr_linenumber" name="708" href="#708">708</a> }
+<a class="jxr_linenumber" name="709" href="#709">709</a>
+<a class="jxr_linenumber" name="710" href="#710">710</a> <strong class="jxr_keyword">private</strong> <strong class="jxr_keyword">void</strong> checkVector(FieldVector3D<Dfp> u, FieldVector3D<Dfp> v) {
+<a class="jxr_linenumber" name="711" href="#711">711</a> Assert.assertEquals(u.getX().getReal(), v.getX().getReal(), 1.0e-12);
+<a class="jxr_linenumber" name="712" href="#712">712</a> Assert.assertEquals(u.getY().getReal(), v.getY().getReal(), 1.0e-12);
+<a class="jxr_linenumber" name="713" href="#713">713</a> Assert.assertEquals(u.getZ().getReal(), v.getZ().getReal(), 1.0e-12);
+<a class="jxr_linenumber" name="714" href="#714">714</a> }
+<a class="jxr_linenumber" name="715" href="#715">715</a>
+<a class="jxr_linenumber" name="716" href="#716">716</a> }
+</pre>
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