Example usage for org.apache.commons.math3.geometry.euclidean.threed Vector3D MINUS_J

Introduction

In this page you can find the example usage for org.apache.commons.math3.geometry.euclidean.threed Vector3D MINUS_J.

Prototype

Vector3D MINUS_J

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Document

Opposite of the second canonical vector (coordinates: 0, -1, 0).

Usage

From source file:org.orekit.frames.TransformTest.java

@Test
public void testShift() {

    // the following transform corresponds to a frame moving along the line x=1 and rotating around its -z axis
    // the linear motion velocity is (0, +1, 0), the angular rate is PI/2
    // at t = -1 the frame origin is at (1, -1, 0), its X axis is equal to  Xref and its Y axis is equal to  Yref
    // at t =  0 the frame origin is at (1,  0, 0), its X axis is equal to -Yref and its Y axis is equal to  Xref
    // at t = +1 the frame origin is at (1, +1, 0), its X axis is equal to -Xref and its Y axis is equal to -Yref
    AbsoluteDate date = AbsoluteDate.GALILEO_EPOCH;
    double alpha0 = 0.5 * FastMath.PI;
    double omega = 0.5 * FastMath.PI;
    Transform t = new Transform(date, new Transform(date, Vector3D.MINUS_I, Vector3D.MINUS_J, Vector3D.ZERO),
            new Transform(date, new Rotation(Vector3D.PLUS_K, alpha0), new Vector3D(omega, Vector3D.MINUS_K)));

    for (double dt = -10.0; dt < 10.0; dt += 0.125) {

        Transform shifted = t.shiftedBy(dt);

        // the following point should always remain at moving frame origin
        PVCoordinates expectedFixedPoint = shifted.transformPVCoordinates(
                new PVCoordinates(new Vector3D(1, dt, 0), Vector3D.PLUS_J, Vector3D.ZERO));
        checkVector(expectedFixedPoint.getPosition(), Vector3D.ZERO, 1.0e-14);
        checkVector(expectedFixedPoint.getVelocity(), Vector3D.ZERO, 1.0e-14);
        checkVector(expectedFixedPoint.getAcceleration(), Vector3D.ZERO, 1.0e-14);

        // fixed frame origin apparent motion in moving frame
        PVCoordinates expectedApparentMotion = shifted.transformPVCoordinates(PVCoordinates.ZERO);
        double c = FastMath.cos(alpha0 + omega * dt);
        double s = FastMath.sin(alpha0 + omega * dt);
        Vector3D referencePosition = new Vector3D(-c + dt * s, -s - dt * c, 0);
        Vector3D referenceVelocity = new Vector3D((1 + omega) * s + dt * omega * c,
                -(1 + omega) * c + dt * omega * s, 0);
        Vector3D referenceAcceleration = new Vector3D(omega * (2 + omega) * c - dt * omega * omega * s,
                omega * (2 + omega) * s + dt * omega * omega * c, 0);
        checkVector(expectedApparentMotion.getPosition(), referencePosition, 1.0e-14);
        checkVector(expectedApparentMotion.getVelocity(), referenceVelocity, 1.0e-14);
        checkVector(expectedApparentMotion.getAcceleration(), referenceAcceleration, 1.0e-14);

    }/*from   w ww. j av a 2s.  c  o  m*/

}

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From source file:org.orekit.utils.AngularCoordinatesTest.java

@Test
public void testCancellingDerivatives() throws OrekitException {
    PVCoordinates u1 = new PVCoordinates(
            new Vector3D(-0.4466591282528639, -0.009657376949231283, -0.894652087807798),
            new Vector3D(-8.897296517803556E-4, 2.7825250920407674E-4, 4.411979658413134E-4),
            new Vector3D(4.753127475302486E-7, 1.0209400376727623E-8, 9.515403756524403E-7));
    PVCoordinates u2 = new PVCoordinates(
            new Vector3D(0.23723907259910096, 0.9628700806685033, -0.1288364474275361),
            new Vector3D(-7.98741002062555E-24, 2.4979687659429984E-24, 3.9607863426704016E-24),
            new Vector3D(-3.150541868418562E-23, 9.856329862034835E-24, 1.5648124883326986E-23));
    PVCoordinates v1 = new PVCoordinates(Vector3D.PLUS_K, Vector3D.ZERO, Vector3D.ZERO);
    PVCoordinates v2 = new PVCoordinates(Vector3D.MINUS_J, Vector3D.ZERO, Vector3D.ZERO);
    AngularCoordinates ac = new AngularCoordinates(u1, u2, v1, v2, 1.0e-9);
    PVCoordinates v1Computed = ac.applyTo(u1);
    PVCoordinates v2Computed = ac.applyTo(u2);
    Assert.assertEquals(0, Vector3D.distance(v1.getPosition(), v1Computed.getPosition()), 1.0e-15);
    Assert.assertEquals(0, Vector3D.distance(v2.getPosition(), v2Computed.getPosition()), 1.0e-15);
    Assert.assertEquals(0, Vector3D.distance(v1.getVelocity(), v1Computed.getVelocity()), 1.0e-15);
    Assert.assertEquals(0, Vector3D.distance(v2.getVelocity(), v2Computed.getVelocity()), 1.0e-15);
    Assert.assertEquals(0, Vector3D.distance(v1.getAcceleration(), v1Computed.getAcceleration()), 1.0e-15);
    Assert.assertEquals(0, Vector3D.distance(v2.getAcceleration(), v2Computed.getAcceleration()), 1.0e-15);
}

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