Package edu.nps.moves.spatial
Class EntityBodyCoordinates
java.lang.Object
edu.nps.moves.spatial.EntityBodyCoordinates
Local coordinate system for an entity, e.g., relative to one UAV. This
is typically embedded in another coordinate system, such as a range
coordinate system. The origin of the local coordinate system should be
the center of mass of the entity. The u axis points out the front, v axis
out the right side of the entity, and the w axis down. The SRF is specified
via a point (in the reference frame of the parent) and two unit vectors
in the parent SRF, which are parallel to the entity u,v plane. Directions,
orientations, and vector
quantities are independent of the position of the lococenter WRT the
parent SRF; if you're concerned only with directions, orientations, and
vector quantities it doesn't matter where the origin is, so you can
pick someplace handy, like the origin of the parent SRF.
- Author:
- DMcG
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Constructor Summary
ConstructorsConstructorDescriptionEntityBodyCoordinates
(SRM.BaseSRF_3D parentSRF, float x, float y, float z, float primaryDirectionX, float primaryDirectionY, float primaryDirectionZ, float secondaryDirectionX, float secondaryDirectionY, float secondaryDirectionZ) Create a new lococentric Euclidean reference frame embedded in a parent SRF. -
Method Summary
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Constructor Details
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EntityBodyCoordinates
public EntityBodyCoordinates(SRM.BaseSRF_3D parentSRF, float x, float y, float z, float primaryDirectionX, float primaryDirectionY, float primaryDirectionZ, float secondaryDirectionX, float secondaryDirectionY, float secondaryDirectionZ) Create a new lococentric Euclidean reference frame embedded in a parent SRF. The origin of the lococentric coordinate system is specified, along with two unit vectors, parallel to the u and v axes.- Parameters:
parentSRF
- parent spatial reference framex
- parent lococenter, x coordinatey
- parent lococenter, y coordinatez
- parent lococenter, z coordinateprimaryDirectionX
- unit vector parallel to u axis, x coordinateprimaryDirectionY
- unit vector parallel to u axis, y coordinateprimaryDirectionZ
- unit vector parallel to u axis, z coordinatesecondaryDirectionX
- unit vector parallel to v axis, x coordinatesecondaryDirectionY
- unit vector parallel to v axis, y coordinatesecondaryDirectionZ
- unit vector parallel to v axis, z coordinate
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