public Transformation()
{
rotationMatrix = rotation.ToRotationMatrices();
hasEuler = true;
hasMatrix = true;
}
public Transformation(object[] transformationArrayObj)
{
var transformationArray = transformationArrayObj.Cast <double>().ToArray();
var matrix = Matrix <double> .Build.Dense(3, 3);
// { 0, 3, 6 }
// { 1, 4, 7 }
// { 2, 5, 8 }
matrix[0, 0] = transformationArray[0];
matrix[1, 0] = transformationArray[1];
matrix[2, 0] = transformationArray[2];
matrix[0, 1] = transformationArray[3];
matrix[1, 1] = transformationArray[4];
matrix[2, 1] = transformationArray[5];
matrix[0, 2] = transformationArray[6];
matrix[1, 2] = transformationArray[7];
matrix[2, 2] = transformationArray[8];
position.X = transformationArray[9];
position.Y = transformationArray[10];
position.Z = transformationArray[11];
rotationMatrix = new RotationMatrix(matrix);
hasMatrix = true;
}
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;
}
public Transformation NewOrder(string order = "xyz")
{
if (!hasEuler)
{
throw new ArgumentException("No Euler availible");
}
rotationMatrix = rotation.ToRotationMatrices(order);
return(this);
}
