public Transformation(ATN.Utils.MathExt.Numerical.Coordinate pos, Rotation rm, string order = "xyz")
{
position = pos;
rotationMatrix = rm.ToRotationMatrices(order);
hasMatrix = true;
}
public Transformation(ATN.Utils.MathExt.Numerical.Coordinate pos, RotationMatrix rm)
{
position = pos;
rotationMatrix = rm;
hasMatrix = true;
}
public Transformation(double X, double Y, double Z, double Phi, double Teta, double Psi, string order = "xyz")
{
position = new ATN.Utils.MathExt.Numerical.Coordinate(X, Y, Z);
rotation = new ATN.Utils.MathExt.Numerical.Rotation(Phi, Teta, Psi);
rotationMatrix = new RotationMatrix(rotation, order);
hasEuler = true;
hasMatrix = true;
}