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Posted to commits@commons.apache.org by er...@apache.org on 2019/12/13 13:39:06 UTC
[commons-geometry] 03/07: GEOMETRY-66: removing unused argument in
QuaternionRotation euler angles methods
This is an automated email from the ASF dual-hosted git repository.
erans pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/commons-geometry.git
commit 2ec5d82d4e8a849fe8eff5083657fbd862db51b7
Author: Matt Juntunen <ma...@hotmail.com>
AuthorDate: Fri Dec 13 00:39:16 2019 -0500
GEOMETRY-66: removing unused argument in QuaternionRotation euler angles methods
---
.../euclidean/threed/rotation/QuaternionRotation.java | 18 ++++++++++--------
1 file changed, 10 insertions(+), 8 deletions(-)
diff --git a/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/rotation/QuaternionRotation.java b/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/rotation/QuaternionRotation.java
index 258a885..216aaa7 100644
--- a/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/rotation/QuaternionRotation.java
+++ b/commons-geometry-euclidean/src/main/java/org/apache/commons/geometry/euclidean/threed/rotation/QuaternionRotation.java
@@ -355,13 +355,13 @@ public final class QuaternionRotation implements Rotation3D {
if (sequenceType == AxisSequenceType.TAIT_BRYAN) {
return getRelativeTaitBryanAngles(axis1, axis2, axis3);
} else if (sequenceType == AxisSequenceType.EULER) {
- return getRelativeEulerAngles(axis1, axis2, axis3);
+ return getRelativeEulerAngles(axis1, axis2);
}
} else if (frame == AxisReferenceFrame.ABSOLUTE) {
if (sequenceType == AxisSequenceType.TAIT_BRYAN) {
return getAbsoluteTaitBryanAngles(axis1, axis2, axis3);
} else if (sequenceType == AxisSequenceType.EULER) {
- return getAbsoluteEulerAngles(axis1, axis2, axis3);
+ return getAbsoluteEulerAngles(axis1, axis2);
}
}
@@ -437,14 +437,15 @@ public final class QuaternionRotation implements Rotation3D {
}
/** Get a sequence of angles around the given Euler axes that produce a rotation equivalent
- * to this instance. The axes are interpreted as being relative to the rotated coordinate frame.
+ * to this instance. The axes are interpreted as being relative to the rotated coordinate frame. Only
+ * the first two axes are needed since, by definition, the first Euler angle axis is repeated as the
+ * third axis.
* @param axis1 first Euler axis
* @param axis2 second Euler axis
- * @param axis3 third Euler axis
* @return a sequence of rotation angles around the relative input axes that produce a rotation equivalent
* to this instance
*/
- private double[] getRelativeEulerAngles(final Vector3D axis1, final Vector3D axis2, final Vector3D axis3) {
+ private double[] getRelativeEulerAngles(final Vector3D axis1, final Vector3D axis2) {
// Use the same overall approach as with the Tait-Bryan angles: get the first two angles by looking
// at the transformed rotation axes and the third by using the inverse.
@@ -488,16 +489,17 @@ public final class QuaternionRotation implements Rotation3D {
/** Get a sequence of angles around the given Euler axes that produce a rotation equivalent
* to this instance. The axes are interpreted as being part of an absolute (unmoving) coordinate frame.
+ * Only the first two axes are needed since, by definition, the first Euler angle axis is repeated as
+ * the third axis.
* @param axis1 first Euler axis
* @param axis2 second Euler axis
- * @param axis3 third Euler axis
* @return a sequence of rotation angles around the absolute input axes that produce a rotation equivalent
* to this instance
*/
- private double[] getAbsoluteEulerAngles(final Vector3D axis1, final Vector3D axis2, final Vector3D axis3) {
+ private double[] getAbsoluteEulerAngles(final Vector3D axis1, final Vector3D axis2) {
// A relative axis-angle rotation sequence is equivalent to an absolute one with the rotation
// sequence reversed, meaning we can reuse our relative logic here.
- return reverseArray(getRelativeEulerAngles(axis3, axis2, axis1));
+ return reverseArray(getRelativeEulerAngles(axis1, axis2));
}
/** Create a new instance from the given quaternion. The quaternion is normalized and