RotationConvention (Apache Commons Math 3.6.1 API)

org.apache.commons.math3.geometry.euclidean.threed

## Enum RotationConvention

- java.lang.Object
- - java.lang.Enum<RotationConvention>
  - - org.apache.commons.math3.geometry.euclidean.threed.RotationConvention

- All Implemented Interfaces:
    Serializable, Comparable<RotationConvention>

      public enum RotationConvention
      extends Enum<RotationConvention>

  This enumerates is used to differentiate the semantics of a rotation.
  Since:
    3.6
  See Also:
    `Rotation`

- - ### Enum Constant Summary

    Enum Constants
    Enum Constant and Description
    `FRAME_TRANSFORM` Constant for rotation that have the semantics of a frame conversion.
    `VECTOR_OPERATOR` Constant for rotation that have the semantics of a vector operator.

  - ### Method Summary

    Methods
    Modifier and Type | Method and Description
    --- | ---
    `static RotationConvention` | `valueOf(String name)` Returns the enum constant of this type with the specified name.
    `static RotationConvention[]` | `values()` Returns an array containing the constants of this enum type, in the order they are declared.

    - ### Methods inherited from class java.lang.Enum

      `clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf`

    - ### Methods inherited from class java.lang.Object

      `getClass, notify, notifyAll, wait, wait, wait`

- - ### Enum Constant Detail

    - #### VECTOR_OPERATOR

          public static final RotationConvention VECTOR_OPERATOR

      Constant for rotation that have the semantics of a vector operator.

      According to this convention, the rotation moves vectors with respect to a fixed reference frame.

      This means that if we define rotation r is a 90 degrees rotation around the Z axis, the image of vector `Vector3D.PLUS_I` would be `Vector3D.PLUS_J`, the image of vector `Vector3D.PLUS_J` would be `Vector3D.MINUS_I`, the image of vector `Vector3D.PLUS_K` would be `Vector3D.PLUS_K`, and the image of vector with coordinates (1, 2, 3) would be vector (-2, 1, 3). This means that the vector rotates counterclockwise.

      This convention was the only one supported by Apache Commons Math up to version 3.5.

      The difference with `FRAME_TRANSFORM` is only the semantics of the sign of the angle. It is always possible to create or use a rotation using either convention to really represent a rotation that would have been best created or used with the other convention, by changing accordingly the sign of the rotation angle. This is how things were done up to version 3.5.

    - #### FRAME_TRANSFORM

          public static final RotationConvention FRAME_TRANSFORM

      Constant for rotation that have the semantics of a frame conversion.

      According to this convention, the rotation considered vectors to be fixed, but their coordinates change as they are converted from an initial frame to a destination frame rotated with respect to the initial frame.

      This means that if we define rotation r is a 90 degrees rotation around the Z axis, the image of vector `Vector3D.PLUS_I` would be `Vector3D.MINUS_J`, the image of vector `Vector3D.PLUS_J` would be `Vector3D.PLUS_I`, the image of vector `Vector3D.PLUS_K` would be `Vector3D.PLUS_K`, and the image of vector with coordinates (1, 2, 3) would be vector (2, -1, 3). This means that the coordinates of the vector rotates clockwise, because they are expressed with respect to a destination frame that is rotated counterclockwise.

      The difference with `VECTOR_OPERATOR` is only the semantics of the sign of the angle. It is always possible to create or use a rotation using either convention to really represent a rotation that would have been best created or used with the other convention, by changing accordingly the sign of the rotation angle. This is how things were done up to version 3.5.

  - ### Method Detail

    - #### values

          public static RotationConvention[] values()

      Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

          for (RotationConvention c : RotationConvention.values())
              System.out.println(c);

      Returns:
        an array containing the constants of this enum type, in the order they are declared

    - #### valueOf

          public static RotationConvention valueOf(String name)

      Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)
      Parameters:
        `name` - the name of the enum constant to be returned.
      Returns:
        the enum constant with the specified name
      Throws:
        `IllegalArgumentException` - if this enum type has no constant with the specified name
        `NullPointerException` - if the argument is null

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