com.kuka.geometry.forms
Class SphericalConnection

java.lang.Object
  com.kuka.geometry.forms.SphericalConnection

All Implemented Interfaces:

IFrameConnection, ITransformationConnection

public class SphericalConnection
extends Object
implements ITransformationConnection

A spherical connection is a connection between the center of the sphere and a frame on its surface.

The parameters azimuth angle phi and polar angle theta are usual parameters of a spherical transformation. They define the orientation of a surface frame.

The transformation used in this connection is realized as follows:

1. phi - rotation about the Z axis,
2. theta - rotation about the Y relative to the rotated coordinate system of step 1
3. translation to the sphere surface along the Z axis of the rotated coordinate system of step 2

Therefore the Z axis of a surface frame is in normal direction to sphere surface, its X and Y axes form a tangential plane to the surface.

     Z
     |
     |        *
     |theta´  |
     |  ´     .
     |´_ _ _ _|_ _Y
    /`        .
   / phi `    |
  /          `     
 X
 

Note: It is possible to connect additional frames to the surface frame (e.g. to construct a different rotation).

Constructor Summary

SphericalConnection(Sphere sphere, double phi, double theta)
Creates a new spherical connection instance.

Method Summary

ITransformation

getTransformationFromParent() Returns the transformation from the parent frame to the owner frame.

Methods inherited from class java.lang.Object

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

Constructor Detail

SphericalConnection

public SphericalConnection(Sphere sphere,
                           double phi,
                           double theta)

Creates a new spherical connection instance.

Parameters:

sphere - sphere of the connection

phi - azimuth angle of the surface frame, in radians

theta - polar angle of the surface frame, in radians

Method Detail

getTransformationFromParent

public ITransformation getTransformationFromParent()

Description copied from interface: ITransformationConnection

Returns the transformation from the parent frame to the owner frame. The returned transformation may either be constant or calculated in some way.

Specified by:

getTransformationFromParent in interface ITransformationConnection

Returns:

the transformation from the parent frame to the owner frame.