pamMaths
Class PamVector

java.lang.Object
  pamMaths.PamVector

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable

public class PamVector
extends java.lang.Object
implements java.io.Serializable, java.lang.Cloneable

Author:

Doug Gillespie Vector calculations for spatial orientation.
All vectors have three elements for x,y,z.
Package includes basic vector calculations, mostly copied from Stephenson 1961

See Also:

Serialized Form

Field Summary

private static PamVector[]	cartesianAxes
private static long	serialVersionUID
protected double[]	vector
private static PamVector	xAxis
private static PamVector	yAxis
private static PamVector	zAxis

Constructor Summary

PamVector()

PamVector(double[] vector)

PamVector(double x, double y, double z)

PamVector(PamVector vector)

Method Summary

double	absAngle(PamVector vec) Calculates the smallest angle between two vectors (0 <= angle < pi/2);
static PamVector	add(PamVector... pamVectors) Add any number of vectors together.
PamVector	add(PamVector vec) Add another vector to this vector and return the result in a new Vector
static PamVector	addQuadrature(PamVector... pamVectors) Add any number of vectors together in quadrature.
double	angle(PamVector vec) Calculate the angle between two vectors
static Jama.Matrix	arrayToMatrix(PamVector[] pamVectors) convert a series of vectors into a Matrix
PamVector	clone()
double	dist(PamVector vec)
double	distSquared(PamVector vec)
double	dotProd(PamVector vec)
boolean	equals(PamVector vec)
static PamVector	getCartesianAxes(int iAxis)
double	getElement(int iElement) Get a single vector element
int	getPrincipleAxis()
PamVector	getUnitVector() Get the unit vector, or if the vector is zero, return the zero vector (0,0,0).
double[]	getVector()
static PamVector[]	getVectorPairs(PamVector[] vectors) Create a set of vector pairs, which are vectors between all the vectors in the input argument
static PamVector	getXAxis()
static PamVector	getYAxis()
static PamVector	getZAxis()
boolean	isInLine(PamVector vec) Test to see whether two vectors lie in a perfect line
boolean	isParallel(PamVector vec) Tests to see whether two vectors are parallel
double	norm()
double	normSquared()
PamVector	rotate(Jama.Matrix rotationMatrix) Rotate the vector by a matrix.
void	setElement(int iElement, double val) Set a single vector element
void	setVector(double[] vector)
PamVector	sub(PamVector vec) Subtract another vector from this vector and return the result in a new Vector
double	sumComponentsSquared(PamVector vec) A bit like a dot product, but the three components are added in quadrature.
PamVector	times(double scalar) Multiply a vector by a scalar
java.lang.String	toString()
double	tripleDotProduct(PamVector v1, PamVector v2) Calculate the triple product of this with v1 and v2
PamVector	vecProd(PamVector vec)

Methods inherited from class java.lang.Object

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

Field Detail

serialVersionUID

private static final long serialVersionUID

See Also:

Constant Field Values

vector

protected double[] vector

xAxis

private static final PamVector xAxis

yAxis

private static final PamVector yAxis

zAxis

private static final PamVector zAxis

cartesianAxes

private static final PamVector[] cartesianAxes

Constructor Detail

PamVector

public PamVector(double[] vector)

PamVector

public PamVector(double x,
                 double y,
                 double z)

PamVector

public PamVector(PamVector vector)

PamVector

public PamVector()

Method Detail

clone

public PamVector clone()

Overrides:

clone in class java.lang.Object

normSquared

public double normSquared()

Returns:

The magnitude squared of the vector

equals

public boolean equals(PamVector vec)

Parameters:

vec - other vector to compare.

Returns:

true if the vectors are equal in all dimensions

sub

public PamVector sub(PamVector vec)

Subtract another vector from this vector and return the result in a new Vector

Parameters:

vec - vector to subtract

Returns:

new vector

add

public PamVector add(PamVector vec)

Add another vector to this vector and return the result in a new Vector

Parameters:

vec - vector to add

Returns:

new vector

add

public static PamVector add(PamVector... pamVectors)

Add any number of vectors together.

Parameters:

pamVectors - list of vectors

Returns:

sum of all vectors.

addQuadrature

public static PamVector addQuadrature(PamVector... pamVectors)

Add any number of vectors together in quadrature.

Parameters:

pamVectors - list of vectors

Returns:

sum of all vectors.

arrayToMatrix

public static Jama.Matrix arrayToMatrix(PamVector[] pamVectors)

convert a series of vectors into a Matrix

Parameters:

pamVectors - array of vectors

Returns:

Jama Matrix

rotate

public PamVector rotate(Jama.Matrix rotationMatrix)

Rotate the vector by a matrix.

Parameters:

rotationMatrix - rotation matrix

Returns:

rotated vector.

times

public PamVector times(double scalar)

Multiply a vector by a scalar

Parameters:

scalar - scalar value

Returns:

new vector

getUnitVector

public PamVector getUnitVector()

Get the unit vector, or if the vector is zero, return the zero vector (0,0,0).

Returns:

the unit vector

angle

public double angle(PamVector vec)

Calculate the angle between two vectors

Parameters:

vec - other vector

Returns:

angle in radians between 0 and pi

absAngle

public double absAngle(PamVector vec)

Calculates the smallest angle between two vectors (0 <= angle < pi/2);

Parameters:

vec - other vector

Returns:

angle between two vectors (0 < angle < pi/2)

distSquared

public double distSquared(PamVector vec)

Parameters:

vec - other vector

Returns:

square of the distance between two vectors

dist

public double dist(PamVector vec)

Parameters:

vec - other vector

Returns:

the distance between two vectors

norm

public double norm()

Returns:

the magnitude of the vector

dotProd

public double dotProd(PamVector vec)

Parameters:

vec - a PamVector

Returns:

the dot product of this and vec

sumComponentsSquared

public double sumComponentsSquared(PamVector vec)

A bit like a dot product, but the three components are added in quadrature. This is used to estimate errors along a particular vector component.

Parameters:

vec - a Pam Vector

Returns:

sum of components in each direction, added in quadrature.

vecProd

public PamVector vecProd(PamVector vec)

Parameters:

vec -

Returns:

vector product of this and vec.

tripleDotProduct

public double tripleDotProduct(PamVector v1,
                               PamVector v2)

Calculate the triple product of this with v1 and v2

Parameters:

v1 - other vector

v2 - other vector

Returns:

triple produce this.(v1^v2);

isParallel

public boolean isParallel(PamVector vec)

Tests to see whether two vectors are parallel

Parameters:

vec - other vector

Returns:

true if parallel to within 1/1000 radian.

isInLine

public boolean isInLine(PamVector vec)

Test to see whether two vectors lie in a perfect line

Parameters:

vec - other vector

Returns:

true if they line up perfectly

getVector

public double[] getVector()

setVector

public void setVector(double[] vector)

getElement

public double getElement(int iElement)

Get a single vector element

Parameters:

iElement - element index

Returns:

value

setElement

public void setElement(int iElement,
                       double val)

Set a single vector element

Parameters:

iElement - element index

val - element value

getXAxis

public static PamVector getXAxis()

getYAxis

public static PamVector getYAxis()

getZAxis

public static PamVector getZAxis()

getCartesianAxes

public static PamVector getCartesianAxes(int iAxis)

Parameters:

iAxis -

Returns:

a unit vector along a Cartesian axis (x,y,z)

getVectorPairs

public static PamVector[] getVectorPairs(PamVector[] vectors)

Create a set of vector pairs, which are vectors between all the vectors in the input argument

Parameters:

vectors - array of vectors

Returns:

array of vectors between all the input vectors (creates n*(n-1)/2 new vectors)

getPrincipleAxis

public int getPrincipleAxis()

Returns:

the axis to which the vector is closest.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object