Package org.robwork.sdurw

Class RPYd

java.lang.Object

org.robwork.sdurw.Rotation3DVectord

org.robwork.sdurw.RPYd

public class RPYd
extends Rotation3DVectord

A class for representing Roll-Pitch-Yaw Euler angle rotations.

Constructor Summary

Constructors

Constructor	Description
RPYd()	Constructs rotation in which all elements are initialized to 0
RPYd(double roll, double pitch, double yaw)	Constructs an initialized roll-pitch-yaw euler angle vector
RPYd(long cPtr, boolean cMemoryOwn)
RPYd(Rotation3Dd rot)	Constructs an RPY object initialized according to the specified Rotation3D \beta = arctan2(-r_{31},\sqrt{r_{11}^2+r_{21}^2}) \alpha = arctan2(r_{21}/cos(\beta), r_{11}/cos(\beta)) \beta = arctan2(r_{32}/cos(\beta), r_{33}/cos(\beta)))
RPYd(Rotation3Dd rot, double epsilon)	Constructs an RPY object initialized according to the specified Rotation3D \beta = arctan2(-r_{31},\sqrt{r_{11}^2+r_{21}^2}) \alpha = arctan2(r_{21}/cos(\beta), r_{11}/cos(\beta)) \beta = arctan2(r_{32}/cos(\beta), r_{33}/cos(\beta)))
RPYd(RPYd rpy)

Method Summary

Modifier and Type	Method	Description
void	delete()
double	get(long i)
static long	getCPtr(RPYd obj)
void	set(long i, double d)
long	size()	size of this RPY.
Rotation3Dd	toRotation3D()	Returns the corresponding 3x3 Rotation matrix
java.lang.String	toString()

Methods inherited from class org.robwork.sdurw.Rotation3DVectord

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

RPYd

public RPYd(long cPtr,
            boolean cMemoryOwn)

RPYd

public RPYd()

Constructs rotation in which all elements are initialized to 0

RPYd

public RPYd(double roll,
            double pitch,
            double yaw)

Constructs an initialized roll-pitch-yaw euler angle vector

Parameters:

roll - Rotation around z

pitch - Rotation around y

yaw - Rotation around x

RPYd

public RPYd(RPYd rpy)

RPYd

public RPYd(Rotation3Dd rot,
            double epsilon)

Constructs an RPY object initialized according to the specified Rotation3D

\beta = arctan2(-r_{31},\sqrt{r_{11}^2+r_{21}^2})
\alpha = arctan2(r_{21}/cos(\beta), r_{11}/cos(\beta))
\beta = arctan2(r_{32}/cos(\beta), r_{33}/cos(\beta)))

Parameters:

epsilon - [in] Value specifying the value for which cos(\beta) is assumed 0 and the special case solution assuming
\alpha=0, \beta=\pi/2 and \gamma = arctan2(r_{21}, r_{22}) is
to be used.

RPYd

public RPYd(Rotation3Dd rot)

Constructs an RPY object initialized according to the specified Rotation3D

\beta = arctan2(-r_{31},\sqrt{r_{11}^2+r_{21}^2})
\alpha = arctan2(r_{21}/cos(\beta), r_{11}/cos(\beta))
\beta = arctan2(r_{32}/cos(\beta), r_{33}/cos(\beta)))

Method Detail

getCPtr

public static long getCPtr(RPYd obj)

delete

public void delete()

Overrides:

delete in class Rotation3DVectord

toRotation3D

public Rotation3Dd toRotation3D()

Description copied from class: Rotation3DVectord

Returns the corresponding 3x3 Rotation matrix

Overrides:

toRotation3D in class Rotation3DVectord

Returns:

The rotation matrix

size

public long size()

size of this RPY.

Returns:

the value 3

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

get

public double get(long i)

set

public void set(long i,
                double d)