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java.lang.Object | +--CoorSys
The representation of a coordinate system.
| Field Summary | |
private Vector |
children
The children of this coordinate system. |
private Jama.Matrix |
forwardMatrix
The transformation matrix from a point in the real world to a point in the current coordinate system. |
protected String |
name
the name of the coordinate system. |
private CoorSys |
parent
the parent of this coordinate system. |
static CoorSys |
REAL_WORLD
The RealWorld coordinate system. |
private Jama.Matrix |
reverseMatrix
The transformation matrix from a point in the current coordinate system to a point in the real world. |
| Constructor Summary | |
CoorSys(String name)
Create RealWord root coordinate. |
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CoorSys(String name,
CoorSys parent,
Jama.Matrix m)
Creates a child coordinate system based on the transformation matrix. |
|
CoorSys(String name,
Jama.Matrix m)
Creates a root coordinate system based on the transformation matrix. |
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| Method Summary | |
protected void |
attachChild(CoorSys child)
Attaches a child to this node. |
Enumeration |
children()
Returns an enumeration to the children. |
Object |
clone()
Clones this object and its parents. |
void |
fromRealWorld(Point3D[] src,
Point3D[] dest)
Converts points from RealWorld to a point in this coordinate system. |
void |
fromRealWorld(Point3D src,
Point3D dest)
Converts a point from RealWorld to a point in this coordinate system. |
boolean |
getAllowsChildren()
Always returns true. |
TreeNode |
getChildAt(int childIndex)
Returns the child at the specified index. |
int |
getChildCount()
Returns the number of child of this node. |
Jama.Matrix |
getForwardMatrix()
Returns the transformation matrix. |
int |
getIndex(TreeNode node)
Returns the index of the specified child. |
String |
getName()
Returns the name of the coordinate system. |
TreeNode |
getParent()
Returns the parent of this coorsys. |
Jama.Matrix |
getReverseMatrix()
Returns the inverse transformation matrix. |
boolean |
isLeaf()
Returns true if the this cooorsys has no children. |
void |
setForwardMatrix(Jama.Matrix m)
Sets the transformation matrix from a point in the real world to a point in the current coordinate system. |
void |
setReverseMatrix(Jama.Matrix m)
Sets the transformation matrix from a point in the current coordinate system to a point in the real world. |
void |
toRealWorld(Point3D[] src,
Point3D[] dest)
Converts points in RealWorld to points in this coordinate system. |
void |
toRealWorld(Point3D src,
Point3D dest)
Converts a point in RealWorld to a point in this coordinate system. |
String |
toString()
Returns the name of this coordinate system. |
| Methods inherited from class java.lang.Object |
|
| Field Detail |
protected String name
private CoorSys parent
private Vector children
private Jama.Matrix forwardMatrix
reverseMatrixprivate Jama.Matrix reverseMatrix
forwardMatrixpublic static final CoorSys REAL_WORLD
| Constructor Detail |
public CoorSys(String name)
name - the name of the coordinate system.
public CoorSys(String name,
Jama.Matrix m)
m - the 4x4 homogeneous forward transformation matrix.name - the name of the coordinate system.Transformation
public CoorSys(String name,
CoorSys parent,
Jama.Matrix m)
name - the name of the coordinate system.parent - m - the forward transformation matrix.| Method Detail |
protected void attachChild(CoorSys child)
child - the child node to attach.public Object clone()
public String getName()
public TreeNode getParent()
public boolean getAllowsChildren()
public TreeNode getChildAt(int childIndex)
public int getChildCount()
public int getIndex(TreeNode node)
public boolean isLeaf()
public Enumeration children()
public void setForwardMatrix(Jama.Matrix m)
m - new value for forwardMatrixforwardMatrix,
reverseMatrixpublic void setReverseMatrix(Jama.Matrix m)
m - new value for reverseMatrixforwardMatrix,
reverseMatrixpublic Jama.Matrix getForwardMatrix()
public Jama.Matrix getReverseMatrix()
public void fromRealWorld(Point3D src,
Point3D dest)
src - the coordinate in RealWorld.dest - the corresponding point in this coordinate system will
be placed here.
public void fromRealWorld(Point3D[] src,
Point3D[] dest)
src - the points in RealWorld.dst - the corresponding points in this coordinate system will
be placed here.
public void toRealWorld(Point3D src,
Point3D dest)
src - the point in this coordinate system.dest - the corresponding point in RealWorld will be placed here.
public void toRealWorld(Point3D[] src,
Point3D[] dest)
src - the points in Republic String toString()
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