Class EntityBodyCoordinates

java.lang.Object
edu.nps.moves.spatial.EntityBodyCoordinates

public class EntityBodyCoordinates extends Object
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
  • Constructor Summary

    Constructors
    Constructor
    Description
    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.
  • Method Summary

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
  • Constructor Details

    • 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 frame
      x - parent lococenter, x coordinate
      y - parent lococenter, y coordinate
      z - parent lococenter, z coordinate
      primaryDirectionX - unit vector parallel to u axis, x coordinate
      primaryDirectionY - unit vector parallel to u axis, y coordinate
      primaryDirectionZ - unit vector parallel to u axis, z coordinate
      secondaryDirectionX - unit vector parallel to v axis, x coordinate
      secondaryDirectionY - unit vector parallel to v axis, y coordinate
      secondaryDirectionZ - unit vector parallel to v axis, z coordinate