Module: MkCoord::Matrix

Defined in:
lib/mk_coord/matrix.rb

Class Method Summary collapse

Class Method Details

.r_x(phi, r = R_UNIT) ⇒ Object

回転行列（x 軸中心）

@param: phi (回転量(rad)) @param: r (回転行列) @return: r_a (回転後)



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# File 'lib/mk_coord/matrix.rb', line 12

def r_x(phi, r = R_UNIT)
  r_a = Array.new

  begin
    s, c = Math.sin(phi), Math.cos(phi)
    a10 =   c * r[1][0] + s * r[2][0]
    a11 =   c * r[1][1] + s * r[2][1]
    a12 =   c * r[1][2] + s * r[2][2]
    a20 = - s * r[1][0] + c * r[2][0]
    a21 = - s * r[1][1] + c * r[2][1]
    a22 = - s * r[1][2] + c * r[2][2]
    r_a << r[0]
    r_a << [a10, a11, a12]
    r_a << [a20, a21, a22]
    return r_a
  rescue => e
    raise
  end
end

.r_y(theta, r = R_UNIT) ⇒ Object

回転行列（y 軸中心）

@param: theta (回転量(rad)) @param: r (回転行列) @return: r_a (回転後)



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# File 'lib/mk_coord/matrix.rb', line 39

def r_y(theta, r = R_UNIT)
  r_a = Array.new

  begin
    s, c = Math.sin(theta), Math.cos(theta)
    a00 = c * r[0][0] - s * r[2][0]
    a01 = c * r[0][1] - s * r[2][1]
    a02 = c * r[0][2] - s * r[2][2]
    a20 = s * r[0][0] + c * r[2][0]
    a21 = s * r[0][1] + c * r[2][1]
    a22 = s * r[0][2] + c * r[2][2]
    r_a << [a00, a01, a02]
    r_a << r[1]
    r_a << [a20, a21, a22]
    return r_a
  rescue => e
    raise
  end
end

.r_z(psi, r = R_UNIT) ⇒ Object

回転行列（z 軸中心）

@param: psi (回転量(rad)) @param: r (回転行列) @return: r_a (回転後)



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# File 'lib/mk_coord/matrix.rb', line 66

def r_z(psi, r = R_UNIT)
  r_a = Array.new

  begin
    s, c = Math.sin(psi), Math.cos(psi)
    a00 =   c * r[0][0] + s * r[1][0];
    a01 =   c * r[0][1] + s * r[1][1];
    a02 =   c * r[0][2] + s * r[1][2];
    a10 = - s * r[0][0] + c * r[1][0];
    a11 = - s * r[0][1] + c * r[1][1];
    a12 = - s * r[0][2] + c * r[1][2];
    r_a << [a00, a01, a02]
    r_a << [a10, a11, a12]
    r_a << r[2]
    return r_a
  rescue => e
    raise
  end
end

.rotate(r, pos) ⇒ Object

座標回転

@param: r (回転行列) @param: pos (回転前直角座標) @return: pos_r (回転後直角座標)



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# File 'lib/mk_coord/matrix.rb', line 93

def rotate(r, pos)
  return (0..2).map do |i|
    (0..2).inject(0) { |sum, j| sum + r[i][j] * pos[j] }
  end
rescue => e
  raise
end