content: /*
   * Licensed to the Apache Software Foundation (ASF) under one or more
   * contributor license agreements.  See the NOTICE file distributed with
   * this work for additional information regarding copyright ownership.
   * The ASF licenses this file to You under the Apache License, Version 2.0
   * (the "License"); you may not use this file except in compliance with
   * the License.  You may obtain a copy of the License at
   *
   *      http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  
  package spacefiller.peasy.org.apache.commons.math.geometry;
  
  /**
   * This class is a utility representing a rotation order specification for
   * Cardan or Euler angles specification.
   * 
   * This class cannot be instanciated by the user. He can only use one of the
   * twelve predefined supported orders as an argument to either the
   * {@link Rotation#Rotation(RotationOrder,double,double,double)} constructor or
   * the {@link Rotation#getAngles} method.
   * 
   * @version $Revision: 620312 $ $Date: 2008-02-10 12:28:59 -0700 (Sun, 10 Feb
   *          2008) $
   * @since 1.2
   */
  public final class RotationOrder {
  
  	/**
  	 * Private constructor. This is a utility class that cannot be instantiated
  	 * by the user, so its only constructor is private.
  	 * 
  	 * @param name
  	 *            name of the rotation order
  	 * @param a1
  	 *            axis of the first rotation
  	 * @param a2
  	 *            axis of the second rotation
  	 * @param a3
  	 *            axis of the third rotation
  	 */
  	private RotationOrder(final String name, final Vector3D a1, final Vector3D a2,
  			final Vector3D a3) {
  		this.name = name;
  		this.a1 = a1;
  		this.a2 = a2;
  		this.a3 = a3;
  	}
  
  	/**
  	 * Get a string representation of the instance.
  	 * 
  	 * @return a string representation of the instance (in fact, its name)
  	 */
  	public String toString() {
  		return name;
  	}
  
  	/**
  	 * Get the axis of the first rotation.
  	 * 
  	 * @return axis of the first rotation
  	 */
  	public Vector3D getA1() {
  		return a1;
  	}
  
  	/**
  	 * Get the axis of the second rotation.
  	 * 
  	 * @return axis of the second rotation
  	 */
  	public Vector3D getA2() {
  		return a2;
  	}
  
  	/**
  	 * Get the axis of the second rotation.
  	 * 
  	 * @return axis of the second rotation
  	 */
  	public Vector3D getA3() {
  		return a3;
  	}
  
  	/**
  	 * Set of Cardan angles. this ordered set of rotations is around X, then
  	 * around Y, then around Z
  	 */
  	public static final RotationOrder XYZ = new RotationOrder("XYZ", Vector3D.plusI,
  			Vector3D.plusJ, Vector3D.plusK);
  
  	/**
  	 * Set of Cardan angles. this ordered set of rotations is around X, then
  	 * around Z, then around Y
  	 */
  	public static final RotationOrder XZY = new RotationOrder("XZY", Vector3D.plusI,
  			Vector3D.plusK, Vector3D.plusJ);
  
  	/**
  	 * Set of Cardan angles. this ordered set of rotations is around Y, then
  	 * around X, then around Z
  	 */
  	public static final RotationOrder YXZ = new RotationOrder("YXZ", Vector3D.plusJ,
  			Vector3D.plusI, Vector3D.plusK);
  
  	/**
  	 * Set of Cardan angles. this ordered set of rotations is around Y, then
  	 * around Z, then around X
  	 */
  	public static final RotationOrder YZX = new RotationOrder("YZX", Vector3D.plusJ,
  			Vector3D.plusK, Vector3D.plusI);
  
  	/**
  	 * Set of Cardan angles. this ordered set of rotations is around Z, then
  	 * around X, then around Y
  	 */
  	public static final RotationOrder ZXY = new RotationOrder("ZXY", Vector3D.plusK,
  			Vector3D.plusI, Vector3D.plusJ);
  
  	/**
  	 * Set of Cardan angles. this ordered set of rotations is around Z, then
  	 * around Y, then around X
  	 */
  	public static final RotationOrder ZYX = new RotationOrder("ZYX", Vector3D.plusK,
  			Vector3D.plusJ, Vector3D.plusI);
  
  	/**
  	 * Set of Euler angles. this ordered set of rotations is around X, then
  	 * around Y, then around X
  	 */
  	public static final RotationOrder XYX = new RotationOrder("XYX", Vector3D.plusI,
  			Vector3D.plusJ, Vector3D.plusI);
  
  	/**
  	 * Set of Euler angles. this ordered set of rotations is around X, then
  	 * around Z, then around X
  	 */
  	public static final RotationOrder XZX = new RotationOrder("XZX", Vector3D.plusI,
  			Vector3D.plusK, Vector3D.plusI);
  
  	/**
  	 * Set of Euler angles. this ordered set of rotations is around Y, then
  	 * around X, then around Y
  	 */
  	public static final RotationOrder YXY = new RotationOrder("YXY", Vector3D.plusJ,
  			Vector3D.plusI, Vector3D.plusJ);
  
  	/**
  	 * Set of Euler angles. this ordered set of rotations is around Y, then
  	 * around Z, then around Y
  	 */
  	public static final RotationOrder YZY = new RotationOrder("YZY", Vector3D.plusJ,
  			Vector3D.plusK, Vector3D.plusJ);
  
  	/**
  	 * Set of Euler angles. this ordered set of rotations is around Z, then
  	 * around X, then around Z
  	 */
  	public static final RotationOrder ZXZ = new RotationOrder("ZXZ", Vector3D.plusK,
  			Vector3D.plusI, Vector3D.plusK);
  
  	/**
  	 * Set of Euler angles. this ordered set of rotations is around Z, then
  	 * around Y, then around Z
  	 */
  	public static final RotationOrder ZYZ = new RotationOrder("ZYZ", Vector3D.plusK,
  			Vector3D.plusJ, Vector3D.plusK);
  
  	/** Name of the rotations order. */
  	private final String name;
  
  	/** Axis of the first rotation. */
  	private final Vector3D a1;
  
  	/** Axis of the second rotation. */
  	private final Vector3D a2;
  
  	/** Axis of the third rotation. */
  	private final Vector3D a3;
  
  }
  