RotationOrder (Apache Commons Math 3.6.1 API)

java.lang.Object
- org.apache.commons.math3.geometry.euclidean.threed.RotationOrder

```
public final class RotationOrder
extends Object
```
This class is a utility representing a rotation order specification for Cardan or Euler angles specification. This class cannot be instanciated by the user. He can only use one of the twelve predefined supported orders as an argument to either the Rotation.Rotation(RotationOrder,double,double,double) constructor or the Rotation.getAngles(org.apache.commons.math3.geometry.euclidean.threed.RotationOrder) method.

Since:

1.2

Field Summary

Fields
Modifier and Type	Field and Description
`static RotationOrder`	`XYX` Set of Euler angles.
`static RotationOrder`	`XYZ` Set of Cardan angles.
`static RotationOrder`	`XZX` Set of Euler angles.
`static RotationOrder`	`XZY` Set of Cardan angles.
`static RotationOrder`	`YXY` Set of Euler angles.
`static RotationOrder`	`YXZ` Set of Cardan angles.
`static RotationOrder`	`YZX` Set of Cardan angles.
`static RotationOrder`	`YZY` Set of Euler angles.
`static RotationOrder`	`ZXY` Set of Cardan angles.
`static RotationOrder`	`ZXZ` Set of Euler angles.
`static RotationOrder`	`ZYX` Set of Cardan angles.
`static RotationOrder`	`ZYZ` Set of Euler angles.

Method Summary

Methods
Modifier and Type	Method and Description
`Vector3D`	`getA1()` Get the axis of the first rotation.
`Vector3D`	`getA2()` Get the axis of the second rotation.
`Vector3D`	`getA3()` Get the axis of the second rotation.
`String`	`toString()` Get a string representation of the instance.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Field Detail
  - XYZ
```
public static final RotationOrder XYZ
```
    Set of Cardan angles. this ordered set of rotations is around X, then around Y, then around Z
  - XZY
```
public static final RotationOrder XZY
```
    Set of Cardan angles. this ordered set of rotations is around X, then around Z, then around Y
  - YXZ
```
public static final RotationOrder YXZ
```
    Set of Cardan angles. this ordered set of rotations is around Y, then around X, then around Z
  - YZX
```
public static final RotationOrder YZX
```
    Set of Cardan angles. this ordered set of rotations is around Y, then around Z, then around X
  - ZXY
```
public static final RotationOrder ZXY
```
    Set of Cardan angles. this ordered set of rotations is around Z, then around X, then around Y
  - ZYX
```
public static final RotationOrder ZYX
```
    Set of Cardan angles. this ordered set of rotations is around Z, then around Y, then around X
  - XYX
```
public static final RotationOrder XYX
```
    Set of Euler angles. this ordered set of rotations is around X, then around Y, then around X
  - XZX
```
public static final RotationOrder XZX
```
    Set of Euler angles. this ordered set of rotations is around X, then around Z, then around X
  - YXY
```
public static final RotationOrder YXY
```
    Set of Euler angles. this ordered set of rotations is around Y, then around X, then around Y
  - YZY
```
public static final RotationOrder YZY
```
    Set of Euler angles. this ordered set of rotations is around Y, then around Z, then around Y
  - ZXZ
```
public static final RotationOrder ZXZ
```
    Set of Euler angles. this ordered set of rotations is around Z, then around X, then around Z
  - ZYZ
```
public static final RotationOrder ZYZ
```
    Set of Euler angles. this ordered set of rotations is around Z, then around Y, then around Z
- Method Detail
  - toString
```
public String toString()
```
    Get a string representation of the instance.
    
    Overrides:
    
    toString in class Object
    
    Returns:
    a string representation of the instance (in fact, its name)
  - getA1
```
public Vector3D getA1()
```
    Get the axis of the first rotation.
    
    Returns:
    axis of the first rotation
  - getA2
```
public Vector3D getA2()
```
    Get the axis of the second rotation.
    
    Returns:
    axis of the second rotation
  - getA3
```
public Vector3D getA3()
```
    Get the axis of the second rotation.
    
    Returns:
    axis of the second rotation

Class RotationOrder

Field Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

XYZ

XZY

YXZ

YZX

ZXY

ZYX

XYX

XZX

YXY

YZY

ZXZ

ZYZ

Method Detail

toString

getA1

getA2

getA3