Package org.robwork.sdurw

Class RPYf

java.lang.Object

org.robwork.sdurw.Rotation3DVectorf

org.robwork.sdurw.RPYf

public class RPYf
extends Rotation3DVectorf

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

Constructor Summary

Constructors

Constructor	Description
RPYf()	Constructs rotation in which all elements are initialized to 0
RPYf(float roll, float pitch, float yaw)	Constructs an initialized roll-pitch-yaw euler angle vector
RPYf(long cPtr, boolean cMemoryOwn)
RPYf(Rotation3Df 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)))
RPYf(Rotation3Df rot, float 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)))
RPYf(RPYf rpy)

Method Summary

Modifier and Type	Method	Description
void	delete()
float	get(long i)
static long	getCPtr(RPYf obj)
void	set(long i, float d)
long	size()	size of this RPY.
Rotation3Df	toRotation3D()	Returns the corresponding 3x3 Rotation matrix
java.lang.String	toString()

Methods inherited from class org.robwork.sdurw.Rotation3DVectorf

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

RPYf

public RPYf(long cPtr,
            boolean cMemoryOwn)

RPYf

public RPYf()

Constructs rotation in which all elements are initialized to 0

RPYf

public RPYf(float roll,
            float pitch,
            float yaw)

Constructs an initialized roll-pitch-yaw euler angle vector

Parameters:

roll - Rotation around z

pitch - Rotation around y

yaw - Rotation around x

RPYf

public RPYf(RPYf rpy)

RPYf

public RPYf(Rotation3Df rot,
            float 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.

RPYf

public RPYf(Rotation3Df 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(RPYf obj)

delete

public void delete()

Overrides:

delete in class Rotation3DVectorf

toRotation3D

public Rotation3Df toRotation3D()

Description copied from class: Rotation3DVectorf

Returns the corresponding 3x3 Rotation matrix

Overrides:

toRotation3D in class Rotation3DVectorf

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 float get(long i)

set

public void set(long i,
                float d)