Package org.robwork.sdurw

Class Rotation3Dd

  • public class Rotation3Dd
extends java.lang.Object
    A 3x3 rotation matrix \mathbf{R}\in SO(3)

    \mathbf{R}= \left[ \begin{array}{ccc} {}^A\hat{X}_B {}^A\hat{Y}_B {}^A\hat{Z}_B \end{array} \right] = \left[ \begin{array}{ccc} r_{11} r_{12} r_{13} \\ r_{21} r_{22} r_{23} \\ r_{31} r_{32} r_{33} \end{array} \right]

    • Constructor Summary

      Constructors 
      Constructor Description
      Rotation3Dd()
      A rotation matrix with uninitialized storage.
      Rotation3Dd​(double v0, double v1, double v2, double v3, double v4, double v5, double v6, double v7, double v8)
      Constructs an initialized 3x3 rotation matrix











      \mathbf{R} = \left[ \begin{array}{ccc} r_{11} r_{12} r_{13} \\ r_{21} r_{22} r_{23} \\ r_{31} r_{32} r_{33} \end{array} \right]
      Rotation3Dd​(long cPtr, boolean cMemoryOwn)  
      Rotation3Dd​(Rotation3Dd R)  
      Rotation3Dd​(Vector3Dd i, Vector3Dd j, Vector3Dd k)
      Constructs an initialized 3x3 rotation matrix
      \robabx{a}{b}{\mathbf{R}} = \left[ \begin{array}{ccc} \robabx{a}{b}{\mathbf{i}} \robabx{a}{b}{\mathbf{j}} \robabx{a}{b}{\mathbf{k}} \end{array} \right]

    • Constructor Detail

      • Rotation3Dd

        public Rotation3Dd​(long cPtr,
                   boolean cMemoryOwn)

      • Rotation3Dd

        public Rotation3Dd()
        A rotation matrix with uninitialized storage.

      • Rotation3Dd

        public Rotation3Dd​(double v0,
                   double v1,
                   double v2,
                   double v3,
                   double v4,
                   double v5,
                   double v6,
                   double v7,
                   double v8)
        Constructs an initialized 3x3 rotation matrix











        \mathbf{R} = \left[ \begin{array}{ccc} r_{11} r_{12} r_{13} \\ r_{21} r_{22} r_{23} \\ r_{31} r_{32} r_{33} \end{array} \right]

      • Rotation3Dd

        public Rotation3Dd​(Vector3Dd i,
                   Vector3Dd j,
                   Vector3Dd k)
        Constructs an initialized 3x3 rotation matrix
        \robabx{a}{b}{\mathbf{R}} = \left[ \begin{array}{ccc} \robabx{a}{b}{\mathbf{i}} \robabx{a}{b}{\mathbf{j}} \robabx{a}{b}{\mathbf{k}} \end{array} \right]

        Parameters:
        i - \robabx{a}{b}{\mathbf{i}}
        j - \robabx{a}{b}{\mathbf{j}}
        k - \robabx{a}{b}{\mathbf{k}}

    • Method Detail

      • getCPtr

        public static long getCPtr​(Rotation3Dd obj)

      • delete

        public void delete()

      • identity

        public static Rotation3Dd identity()
        Constructs a 3x3 rotation matrix set to identity
        Returns:
        a 3x3 identity rotation matrix

        \mathbf{R} = \left[ \begin{array}{ccc} 1 0 0 \\ 0 1 0 \\ 0 0 1 \end{array} \right]

      • normalize

        public void normalize()
        Normalizes the rotation matrix to satisfy SO(3).

        Makes a normalization of the rotation matrix such that the columns
        are normalized and othogonal s.t. it belongs to SO(3).

      • getRow

        public Vector3Dd getRow​(long i)
        Returns the i'th row of the rotation matrix

        Parameters:
        i - [in] Index of the row to return. Only valid indices are 0, 1 and 2.

      • getCol

        public Vector3Dd getCol​(long i)
        Returns the i'th column of the rotation matrix
        Parameters:
        i - [in] Index of the column to return. Only valid indices are 0, 1 and 2.

      • equals

        public boolean equals​(Rotation3Dd rhs)
        Comparison operator.

        The comparison operator makes a element wise comparison.
        Returns true only if all elements are equal.

        Parameters:
        rhs - [in] Rotation to compare with
        Returns:
        True if equal.

      • equal

        public boolean equal​(Rotation3Dd rot,
                     double precision)
        Compares rotations with a given precision

        Performs an element wise comparison. Two elements are considered equal if the difference
        are less than precision.

        Parameters:
        rot - [in] Rotation to compare with
        precision - [in] The precision to use for testing

        Returns:
        True if all elements are less than precision apart.

      • isProperRotation

        public boolean isProperRotation()
        Verify that this rotation is a proper rotation

        Returns:
        True if this rotation is considered a proper rotation

      • isProperRotation

        public boolean isProperRotation​(double precision)
        Verify that this rotation is a proper rotation

        Returns:
        True if this rotation is considered a proper rotation

      • e

        public EigenMatrix3d e()
        Returns a Eigen 3x3 matrix \mathbf{M}\in SO(3) that represents this rotation

        Returns:
        \mathbf{M}\in SO(3)

      • skew

        public static Rotation3Dd skew​(Vector3Dd v)
        Creates a skew symmetric matrix from a Vector3D. Also
        known as the cross product matrix of v.



        Parameters:
        v - [in] vector to create Skew matrix from

      • multiply

        public static Rotation3Dd multiply​(Rotation3Dd aRb,
                                   Rotation3Dd bRc)
        Calculates \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}}

        Parameters:
        aRb - [in] \robabx{a}{b}{\mathbf{R}}

        bRc - [in] \robabx{b}{c}{\mathbf{R}}

        Returns:
        \robabx{a}{c}{\mathbf{R}}

      • multiply

        public static Vector3Dd multiply​(Rotation3Dd aRb,
                                 Vector3Dd bVc)
        Calculates \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}}

        Parameters:
        aRb - [in] \robabx{a}{b}{\mathbf{R}}
        bVc - [in] \robabx{b}{c}{\mathbf{v}}
        Returns:
        \robabx{a}{c}{\mathbf{v}}

      • inverse

        public Rotation3Dd inverse()
        Calculate the inverse.
        Note: This function changes the object that it is invoked on, but this is about x5 faster
        than rot = inverse( rot )
        Note: see inverse(const rw::math::Rotation3D< T > &) for the (slower) version that does not change the
        rotation object itself.
        Returns:
        the inverse rotation.

      • multiply

        public EAAd multiply​(EAAd bTKc)

      • toString

        public java.lang.String toString()
        Overrides:
        toString in class java.lang.Object

      • get

        public double get​(long row,
                  long column)

      • set

        public void set​(long row,
                long column,
                double d)