Speed3D.java
package org.opentrafficsim.core.math;
import java.io.Serializable;
import java.util.Locale;
import org.djunits.unit.DirectionUnit;
import org.djunits.unit.SpeedUnit;
import org.djunits.value.StorageType;
import org.djunits.value.ValueException;
import org.djunits.value.vdouble.scalar.Direction;
import org.djunits.value.vdouble.scalar.Speed;
import org.djunits.value.vdouble.vector.SpeedVector;
/**
* A 3D speed vector, decomposed in X, Y, and Z-speed with easy conversion from and to a spherical coordinate system. <br>
* <a href="https://en.wikipedia.org/wiki/Spherical_coordinate_system">Physicists and mathematicians <strong>do not</strong>
* agree on the meaning of theta and phi.</a> In this class the convention in the physics domain is used:
* <ul>
* <li>theta is the angle from the z direction.</li>
* <li>phi is the projected angle in the xy-plane from the x direction.</li>
* </ul>
* N.B. In the geography domain yet another convention is used. <br>
* <p>
* Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
* BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
* </p>
* $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
* initial version Dec 10, 2015 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
*/
public class Speed3D implements Serializable
{
/** */
private static final long serialVersionUID = 20160000L;
/** The speed in 3D (XYZ coded). */
private final SpeedVector speed;
/**
* Construct a new Speed3D from vector of strongly typed Cartesian coordinates.
* @param speed SpeedVector; the speeds in 3D (YPR coded)
* @throws ValueException in case the vector does not have exactly three elements
*/
public Speed3D(final SpeedVector speed) throws ValueException
{
super();
if (speed.size() != 3)
{
throw new ValueException("Size of an RPY-speed vector should be exactly 3. Got: " + speed);
}
this.speed = speed;
}
/**
* Construct a new Speed3D from three strongly typed Cartesian coordinates.
* @param x Speed; the speed in the x-direction
* @param y Speed; the speed in the y-direction
* @param z Speed; the speed in the z-direction
* @throws ValueException in case the units are incorrect
*/
public Speed3D(final Speed x, final Speed y, final Speed z) throws ValueException
{
super();
this.speed = new SpeedVector(new Speed[] {x, y, z}, StorageType.DENSE);
}
/**
* Construct a new Speed3D from three double Cartesian coordinates and a speed unit.
* @param x double; the speed in the x-direction
* @param y double; the speed in the y-direction
* @param z double; the speed in the z-direction
* @param unit SpeedUnit; the unit of the xyz parameters
* @throws ValueException in case the units are incorrect
*/
public Speed3D(final double x, final double y, final double z, final SpeedUnit unit) throws ValueException
{
super();
this.speed = new SpeedVector(new double[] {x, y, z}, unit, StorageType.DENSE);
}
/**
* Construct a new Speed3D from a strongly typed speed and polar coordinates.
* @param speed Speed; the speed in the direction of the angle along the vector
* @param theta Direction; the angle from the z direction
* @param phi Direction; the projected angle in the xy-plane from the x direction
* @throws ValueException in case the vector does not have exactly three elements
*/
public Speed3D(final Speed speed, final Direction theta, final Direction phi) throws ValueException
{
super();
double[] xyz = Scalar3D.polarToCartesian(speed.getInUnit(), theta.si, phi.si);
this.speed = new SpeedVector(xyz, speed.getUnit(), StorageType.DENSE);
}
/**
* Retrieve the x-component of this Speed3D.
* @return the speed in the x-direction.
*/
public final Speed getX()
{
try
{
return this.speed.get(0);
}
catch (ValueException exception)
{
// should be impossible as we constructed the vector always with three elements
throw new RuntimeException(
"getX() gave an exception; apparently vector " + this.speed + " was not constructed right", exception);
}
}
/**
* Retrieve the y-component of this Speed3D.
* @return the speed in the y-direction.
*/
public final Speed getY()
{
try
{
return this.speed.get(1);
}
catch (ValueException exception)
{
// should be impossible as we constructed the vector always with three elements
throw new RuntimeException(
"getY() gave an exception; apparently vector " + this.speed + " was not constructed right", exception);
}
}
/**
* Retrieve the z-component of this Speed3D.
* @return the speed in the z-direction.
*/
public final Speed getZ()
{
try
{
return this.speed.get(2);
}
catch (ValueException exception)
{
// should be impossible as we constructed the vector always with three elements
throw new RuntimeException(
"getZ() gave an exception; apparently vector " + this.speed + " was not constructed right", exception);
}
}
/**
* Retrieve the theta of this Speed3D.
* @return the angle of direction perpendicular to the xy-plane
*/
public final Direction getTheta()
{
return Scalar3D.cartesianToTheta(getX().si, getY().si, getZ().si);
}
/**
* Retrieve the phi of this Speed3D.
* @return the projected angle of direction in the xy-plane
*/
public final Direction getPhi()
{
return Scalar3D.cartesianToPhi(getX().si, getY().si);
}
/**
* Retrieve the norm of this Speed3D.
* @return the combined speed in the direction of the angle
*/
public final Speed getSpeed()
{
return new Speed(Scalar3D.cartesianToRadius(getX().si, getY().si, getZ().si), SpeedUnit.SI);
}
/** {@inheritDoc} */
@Override
public final String toString()
{
return String.format(Locale.US, "Speed3D %s (%s, theta %s, phi %s)", this.speed, getSpeed(),
new Direction(getTheta().getInUnit(DirectionUnit.EAST_DEGREE), DirectionUnit.EAST_DEGREE),
new Direction(getPhi().getInUnit(DirectionUnit.EAST_DEGREE), DirectionUnit.EAST_DEGREE));
}
}