Package com.irurueta.navigation.frames.converters

Class FrameToLocalTangentPlaneTransformationConverter

java.lang.Object
com.irurueta.navigation.frames.converters.FrameToLocalTangentPlaneTransformationConverter
public class FrameToLocalTangentPlaneTransformationConverter extends Object
Converts current frame into a 3D rotation and translation change respect an initial frame.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    private final CoordinateTransformation
    c
    Coordinate transformation to be reused for efficiency purposes.
    private final ECEFFrame
    currentEcefFrame
    Current ECEF frame to be reused for efficiency purposes.
    private final ECEFFrame
    referenceEcefFrame
    Reference frame to be reused for efficiency purposes.
    private final com.irurueta.geometry.Quaternion
    refQ
    Reference rotation to be reused for efficiency purposes.

  • Constructor Summary

    Constructors
    Constructor
    Description
    FrameToLocalTangentPlaneTransformationConverter()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    convert(ECEFFrame currentFrame, ECEFFrame referenceFrame, double[] translationResult, com.irurueta.geometry.Rotation3D rotationResult)
    Converts provided current frame respect to provided reference frame into the amount of translation and rotation that relates both frames.
    void
    convert(ECEFFrame currentFrame, ECEFFrame referenceFrame, com.irurueta.geometry.EuclideanTransformation3D result)
    Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
    void
    convert(ECEFFrame currentFrame, NEDFrame referenceFrame, double[] translationResult, com.irurueta.geometry.Rotation3D rotationResult)
    Converts provided current frame respect to provided reference frame into the amount of translation and rotation that relates both frames.
    void
    convert(ECEFFrame currentFrame, NEDFrame referenceFrame, com.irurueta.geometry.EuclideanTransformation3D result)
    Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
    void
    convert(NEDFrame currentFrame, ECEFFrame referenceFrame, double[] translationResult, com.irurueta.geometry.Rotation3D rotationResult)
    Converts provided current frame respect to provided reference frame into the amount of translation and rotation that relates both frames.
    void
    convert(NEDFrame currentFrame, ECEFFrame referenceFrame, com.irurueta.geometry.EuclideanTransformation3D result)
    Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
    void
    convert(NEDFrame currentFrame, NEDFrame referenceFrame, double[] translationResult, com.irurueta.geometry.Rotation3D rotationResult)
    Converts provided current frame respect to provided reference frame into the amount of translation and rotation that relates both frames.
    void
    convert(NEDFrame currentFrame, NEDFrame referenceFrame, com.irurueta.geometry.EuclideanTransformation3D result)
    Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
    com.irurueta.geometry.EuclideanTransformation3D
    convertAndReturn(ECEFFrame currentFrame, ECEFFrame referenceFrame)
    Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
    com.irurueta.geometry.EuclideanTransformation3D
    convertAndReturn(ECEFFrame currentFrame, NEDFrame referenceFrame)
    Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
    com.irurueta.geometry.EuclideanTransformation3D
    convertAndReturn(NEDFrame currentFrame, ECEFFrame referenceFrame)
    Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
    com.irurueta.geometry.EuclideanTransformation3D
    convertAndReturn(NEDFrame currentFrame, NEDFrame referenceFrame)
    Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • refQ

      private final com.irurueta.geometry.Quaternion refQ
      Reference rotation to be reused for efficiency purposes.

    • c

      private final CoordinateTransformation c
      Coordinate transformation to be reused for efficiency purposes.

    • currentEcefFrame

      private final ECEFFrame currentEcefFrame
      Current ECEF frame to be reused for efficiency purposes.

    • referenceEcefFrame

      private final ECEFFrame referenceEcefFrame
      Reference frame to be reused for efficiency purposes.

  • Constructor Details

    • FrameToLocalTangentPlaneTransformationConverter

      public FrameToLocalTangentPlaneTransformationConverter()

  • Method Details

    • convert

      public void convert(ECEFFrame currentFrame, ECEFFrame referenceFrame, double[] translationResult, com.irurueta.geometry.Rotation3D rotationResult) throws com.irurueta.geometry.InvalidRotationMatrixException
      Converts provided current frame respect to provided reference frame into the amount of translation and rotation that relates both frames.
      Parameters:
      currentFrame - current frame.
      referenceFrame - reference frame.
      translationResult - instance where estimated translation change will be stored.
      rotationResult - instance where estimated rotation change will be stored.
      Throws:
      com.irurueta.geometry.InvalidRotationMatrixException - if either current or reference frame contains numerically unstable rotation values.

    • convert

      public void convert(ECEFFrame currentFrame, ECEFFrame referenceFrame, com.irurueta.geometry.EuclideanTransformation3D result) throws com.irurueta.geometry.InvalidRotationMatrixException
      Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
      Parameters:
      currentFrame - current frame.
      referenceFrame - reference frame.
      result - instance where estimated 3D Euclidean transformation will be stored.
      Throws:
      com.irurueta.geometry.InvalidRotationMatrixException - if either current or reference frame contains numerically unstable rotation values.

    • convert

      public void convert(NEDFrame currentFrame, ECEFFrame referenceFrame, double[] translationResult, com.irurueta.geometry.Rotation3D rotationResult) throws com.irurueta.geometry.InvalidRotationMatrixException
      Converts provided current frame respect to provided reference frame into the amount of translation and rotation that relates both frames.
      Parameters:
      currentFrame - current frame.
      referenceFrame - reference frame.
      translationResult - instance where estimated translation change will be stored.
      rotationResult - instance where estimated rotation change will be stored.
      Throws:
      com.irurueta.geometry.InvalidRotationMatrixException - if either current or reference frame contains numerically unstable rotation values.

    • convert

      public void convert(NEDFrame currentFrame, ECEFFrame referenceFrame, com.irurueta.geometry.EuclideanTransformation3D result) throws com.irurueta.geometry.InvalidRotationMatrixException
      Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
      Parameters:
      currentFrame - current frame.
      referenceFrame - reference frame.
      result - instance where estimated 3D Euclidean transformation will be stored.
      Throws:
      com.irurueta.geometry.InvalidRotationMatrixException - if either current or reference frame contains numerically unstable rotation values.

    • convert

      public void convert(ECEFFrame currentFrame, NEDFrame referenceFrame, double[] translationResult, com.irurueta.geometry.Rotation3D rotationResult) throws com.irurueta.geometry.InvalidRotationMatrixException
      Converts provided current frame respect to provided reference frame into the amount of translation and rotation that relates both frames.
      Parameters:
      currentFrame - current frame.
      referenceFrame - reference frame.
      translationResult - instance where estimated translation change will be stored.
      rotationResult - instance where estimated rotation change will be stored.
      Throws:
      com.irurueta.geometry.InvalidRotationMatrixException - if either current or reference frame contains numerically unstable rotation values.

    • convert

      public void convert(ECEFFrame currentFrame, NEDFrame referenceFrame, com.irurueta.geometry.EuclideanTransformation3D result) throws com.irurueta.geometry.InvalidRotationMatrixException
      Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
      Parameters:
      currentFrame - current frame.
      referenceFrame - reference frame.
      result - instance where estimated 3D Euclidean transformation will be stored.
      Throws:
      com.irurueta.geometry.InvalidRotationMatrixException - if either current or reference frame contains numerically unstable rotation values.

    • convert

      public void convert(NEDFrame currentFrame, NEDFrame referenceFrame, double[] translationResult, com.irurueta.geometry.Rotation3D rotationResult) throws com.irurueta.geometry.InvalidRotationMatrixException
      Converts provided current frame respect to provided reference frame into the amount of translation and rotation that relates both frames.
      Parameters:
      currentFrame - current frame.
      referenceFrame - reference frame.
      translationResult - instance where estimated translation change will be stored.
      rotationResult - instance where estimated rotation change will be stored.
      Throws:
      com.irurueta.geometry.InvalidRotationMatrixException - if either current or reference frame contains numerically unstable rotation values.

    • convert

      public void convert(NEDFrame currentFrame, NEDFrame referenceFrame, com.irurueta.geometry.EuclideanTransformation3D result) throws com.irurueta.geometry.InvalidRotationMatrixException
      Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
      Parameters:
      currentFrame - current frame.
      referenceFrame - reference frame.
      result - instance where estimated 3D Euclidean transformation will be stored.
      Throws:
      com.irurueta.geometry.InvalidRotationMatrixException - if either current or reference frame contains numerically unstable rotation values.

    • convertAndReturn

      public com.irurueta.geometry.EuclideanTransformation3D convertAndReturn(ECEFFrame currentFrame, ECEFFrame referenceFrame) throws com.irurueta.geometry.InvalidRotationMatrixException
      Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
      Parameters:
      currentFrame - current frame.
      referenceFrame - reference frame.
      Returns:
      estimated 3D euclidean transformation.
      Throws:
      com.irurueta.geometry.InvalidRotationMatrixException - if either current or reference frame contains numerically unstable rotation values.

    • convertAndReturn

      public com.irurueta.geometry.EuclideanTransformation3D convertAndReturn(NEDFrame currentFrame, ECEFFrame referenceFrame) throws com.irurueta.geometry.InvalidRotationMatrixException
      Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
      Parameters:
      currentFrame - current frame.
      referenceFrame - reference frame.
      Returns:
      estimated 3D euclidean transformation.
      Throws:
      com.irurueta.geometry.InvalidRotationMatrixException - if either current or reference frame contains numerically unstable rotation values.

    • convertAndReturn

      public com.irurueta.geometry.EuclideanTransformation3D convertAndReturn(ECEFFrame currentFrame, NEDFrame referenceFrame) throws com.irurueta.geometry.InvalidRotationMatrixException
      Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
      Parameters:
      currentFrame - current frame.
      referenceFrame - reference frame.
      Returns:
      estimated 3D euclidean transformation.
      Throws:
      com.irurueta.geometry.InvalidRotationMatrixException - if either current or reference frame contains numerically unstable rotation values.

    • convertAndReturn

      public com.irurueta.geometry.EuclideanTransformation3D convertAndReturn(NEDFrame currentFrame, NEDFrame referenceFrame) throws com.irurueta.geometry.InvalidRotationMatrixException
      Converts provided current frame respect to provided reference frame into a 3D Euclidean transformation that relates both frames.
      Parameters:
      currentFrame - current frame.
      referenceFrame - reference frame.
      Returns:
      estimated 3D euclidean transformation.
      Throws:
      com.irurueta.geometry.InvalidRotationMatrixException - if either current or reference frame contains numerically unstable rotation values.