| Package | Description | 
|---|---|
| org.apache.commons.math3.geometry.euclidean.threed | 
 This package provides basic 3D geometry components. | 
| org.apache.commons.math3.geometry.spherical.twod | 
 This package provides basic geometry components on the 2-sphere. | 
| Modifier and Type | Field and Description | 
|---|---|
| static Rotation | Rotation. IDENTITYIdentity rotation. | 
| Modifier and Type | Method and Description | 
|---|---|
| Rotation | Rotation. applyInverseTo(Rotation r)Apply the inverse of the instance to another rotation. | 
| Rotation | Rotation. applyTo(Rotation r)Apply the instance to another rotation. | 
| Rotation | Rotation. compose(Rotation r,
       RotationConvention convention)Compose the instance with another rotation. | 
| Rotation | Rotation. composeInverse(Rotation r,
              RotationConvention convention)Compose the inverse of the instance with another rotation. | 
| Rotation | Rotation. revert()Revert a rotation. | 
| Rotation | FieldRotation. toRotation()Convert to a constant vector without derivatives. | 
| Modifier and Type | Method and Description | 
|---|---|
| FieldRotation<T> | FieldRotation. applyInverseTo(Rotation r)Apply the inverse of the instance to another rotation. | 
| Rotation | Rotation. applyInverseTo(Rotation r)Apply the inverse of the instance to another rotation. | 
| static <T extends RealFieldElement<T>>  | FieldRotation. applyInverseTo(Rotation rOuter,
              FieldRotation<T> rInner)Apply the inverse of a rotation to another rotation. | 
| static <T extends RealFieldElement<T>>  | FieldRotation. applyInverseTo(Rotation r,
              FieldVector3D<T> u)Apply the inverse of a rotation to a vector. | 
| FieldRotation<T> | FieldRotation. applyTo(Rotation r)Apply the instance to another rotation. | 
| Rotation | Rotation. applyTo(Rotation r)Apply the instance to another rotation. | 
| static <T extends RealFieldElement<T>>  | FieldRotation. applyTo(Rotation r1,
       FieldRotation<T> rInner)Apply a rotation to another rotation. | 
| static <T extends RealFieldElement<T>>  | FieldRotation. applyTo(Rotation r,
       FieldVector3D<T> u)Apply a rotation to a vector. | 
| FieldRotation<T> | FieldRotation. compose(Rotation r,
       RotationConvention convention)Compose the instance with another rotation. | 
| Rotation | Rotation. compose(Rotation r,
       RotationConvention convention)Compose the instance with another rotation. | 
| FieldRotation<T> | FieldRotation. composeInverse(Rotation r,
              RotationConvention convention)Compose the inverse of the instance with another rotation. | 
| Rotation | Rotation. composeInverse(Rotation r,
              RotationConvention convention)Compose the inverse of the instance with another rotation. | 
| static double | Rotation. distance(Rotation r1,
        Rotation r2)Compute the distance between two rotations. | 
| PolyhedronsSet | PolyhedronsSet. rotate(Vector3D center,
      Rotation rotation)Rotate the region around the specified point. | 
| Plane | Plane. rotate(Vector3D center,
      Rotation rotation)Rotate the plane around the specified point. | 
| Modifier and Type | Method and Description | 
|---|---|
| static Transform<Sphere2D,Sphere1D> | Circle. getTransform(Rotation rotation)Get a  Transformembedding a 3D rotation. | 
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