mil.navy.nps.dis
Class EulerAngle

java.lang.Object
  mil.navy.nps.dis.PduElement
      mil.navy.nps.dis.EulerAngle

All Implemented Interfaces:

java.lang.Cloneable, SerializationInterface

public class EulerAngle

extends PduElement

Representation of an entity's orientation.

Version:

1.0

Author:

Don McGregor (http://www.npsnet.org/~mcgredo)

Location:

Web: http://www.web3d.org/WorkingGroups/vrtp/mil/navy/nps/dis/EulerAngle.java

or locally: ~/mil/navy/nps/dis/EulerAngle.java

Hierarchy Diagram:

Summary:

Orientation of a simulated entity shall be specified by the Euler Angles Record. This record shall specify three angles which are specifed with respect to the entities coordinate system. The three angles shall be represented in radians. See the DisCoordinateSystemGimbals.wrl demo to experiment with Euler angles.

Explanation:

Describes the orientation of an object, in psi, theta, phi 32 bit floating point terms. There are a number of classes that use the same basic layout of 3 32-bit numbers (velocity, angular velocity, EntityPosition, etc.) but they're split out into separate classes in the interests of type safety fascism.

"Don't ask, don't tell" does NOT apply here. We can ask any entity about its orientation.

History:

06Mar97 /Don McGregor /New

16Apr97 /Don McGregor /PrintStream passed to printValues

12Aug97 /Don McGregor /elaborated printValues

8Dec97 /Ronan Fauglas /changes for documentation templates + complements in documentation

11Dec97 /Ronan Fauglas /changes access methods names from "variable()" to "getVariable()"

References:

DIS Data Dictionary :Euler Angles Record

DIS specification : IEEE 1278.1, Section 5.3.17,1.3.2

See Also:

PduElement, SerializationInterface

Field Summary

protected float	phi The third angle of rotation (around the local "Z" axis) in radians.
protected float	psi The first angle of rotation (around the local "X" axis) in radians.
int	sizeOf Constant value--size of an EulerAngle record when written out; here :sizeOf = 12 bytes.
protected float	theta The second angle of rotation (around the local "Y" axis) in radians.

Constructor Summary

EulerAngle()
Constructs an new Entity Identifier, with initial values initiated to 0.

EulerAngle(float pPsi, float pTheta, float pPhi)
Constructs an new EulerAngle Record, with variables values passed by parameters.

Method Summary

java.lang.Object	clone() Makes deep copies of all the instance variables, so we don't have two objects pointing to the same data.
void	deSerialize(java.io.DataInputStream pInputStream) Deserialize our data from the input stream.
float	getPhi()
float	getPsi()
float	getTheta()
int	length() Returns the length of the object when serialized in a stream.
void	printValues(int indentLevel, java.io.PrintStream printStream) Prints the generated serialized object for debugging.
void	serialize(java.io.DataOutputStream outputStream) Serialize our data out to the stream.
void	setPhi(float pPhi)
void	setPsi(float pPsi)
void	setTheta(float pTheta)
void	setValues(float pPsi, float pTheta, float pPhi)

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

psi

protected float psi

The first angle of rotation (around the local "X" axis) in radians.

theta

protected float theta

The second angle of rotation (around the local "Y" axis) in radians.

phi

protected float phi

The third angle of rotation (around the local "Z" axis) in radians.

sizeOf

public final int sizeOf

Constant value--size of an EulerAngle record when written out; here :sizeOf = 12 bytes.

See Also:

Constant Field Values

Constructor Detail

EulerAngle

public EulerAngle()

Constructs an new Entity Identifier, with initial values initiated to 0.

EulerAngle

public EulerAngle(float pPsi,
                  float pTheta,
                  float pPhi)

Constructs an new EulerAngle Record, with variables values passed by parameters.

Parameters:

pPsi - the rotation about z by angle

pTheta - the rotation about y by angle

pPhi - the rotation about x by angle

Method Detail

clone

public java.lang.Object clone()

Description copied from class: PduElement

Makes deep copies of all the instance variables, so we don't have two objects pointing to the same data. The accessor methods make copies of the objects, rather than returning the objects themselves. The runtime provides the right object type with the call to super.clone(), and we cast it to our type. Subclasses should do the same thing, and all these ivars will be taken care of automatically.

Overrides:

clone in class PduElement

Returns:

a clone of this instance

See Also:

Object

serialize

public void serialize(java.io.DataOutputStream outputStream)

Description copied from class: PduElement

Serialize our data out to the stream. Subclasses of us should call super.Serialize() to make sure the superclasse's data is serialized out. The order in which instance variables are serialized is significant. They must be serialized in the same order they appear in the DIS spec. Prints out some information during execution if debugging flag is set.

Specified by:

serialize in interface SerializationInterface

Specified by:

serialize in class PduElement

Parameters:

outputStream - the stream to which this object is serialized

deSerialize

public void deSerialize(java.io.DataInputStream pInputStream)

Description copied from class: PduElement

Deserialize our data from the input stream. Subclasses of us should call super.deSerialize to make sure the superclass's data are properly affected. The order in which instance variables are serialized is significant. They must be deSerialized in the same order as they have been serialized as specified by the DIS spec.

Specified by:

deSerialize in interface SerializationInterface

Specified by:

deSerialize in class PduElement

Parameters:

pInputStream - the stream from which this object is initialized

length

public int length()

Description copied from class: PduElement

Returns the length of the object when serialized in a stream.

Specified by:

length in class PduElement

Returns:

the length of the object when serialized in a stream

printValues

public void printValues(int indentLevel,
                        java.io.PrintStream printStream)

Description copied from class: PduElement

Prints the generated serialized object for debugging.

Specified by:

printValues in class PduElement

Parameters:

indentLevel - number of spaces to indent for visibility

setValues

public void setValues(float pPsi,
                      float pTheta,
                      float pPhi)

getPsi

public float getPsi()

setPsi

public void setPsi(float pPsi)

getTheta

public float getTheta()

setTheta

public void setTheta(float pTheta)

getPhi

public float getPhi()

setPhi

public void setPhi(float pPhi)