Package org.robwork.sdurw_math

Class RPY

  • public class RPY
extends Rotation3DVector
    A class for representing Roll-Pitch-Yaw Euler angle rotations.

    • Constructor Summary

      Constructors 
      Constructor Description
      RPY()
      Constructs rotation in which all elements are initialized to 0
      RPY​(double roll, double pitch, double yaw)
      Constructs an initialized roll-pitch-yaw euler angle vector
      RPY​(long cPtr, boolean cMemoryOwn)  
      RPY​(Rotation3D R)
      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)))

      RPY​(Rotation3D R, 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)))

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void delete()  
      boolean equals​(RPY rhs)
      Comparison operator.

      The comparison operator makes a element wise comparison.
      Returns true only if all elements are equal.
      double get​(long i)  
      static long getCPtr​(RPY obj)  
      boolean notEqual​(RPY rhs)
      Comparison operator.

      The comparison operator makes a element wise comparison.
      Returns true if any of the elements are different.
      void set​(long i, double d)  
      long size()
      size of this RPY.
      Rotation3D toRotation3D()
      Returns the corresponding 3\times 3 Rotation matrix
      java.lang.String toString()  

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • RPY

        public RPY​(long cPtr,
           boolean cMemoryOwn)

      • RPY

        public RPY()
        Constructs rotation in which all elements are initialized to 0

      • RPY

        public RPY​(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

      • RPY

        public RPY​(Rotation3D R,
           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:
        R - [in] A 3x3 rotation matrix \mathbf{R}

        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.

      • RPY

        public RPY​(Rotation3D R)
        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:
        R - [in] A 3x3 rotation matrix \mathbf{R}

    • Method Detail

      • getCPtr

        public static long getCPtr​(RPY obj)

      • get

        public double get​(long i)

      • set

        public void set​(long i,
                double d)

      • equals

        public boolean equals​(RPY rhs)
        Comparison operator.

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

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

      • notEqual

        public boolean notEqual​(RPY rhs)
        Comparison operator.

        The comparison operator makes a element wise comparison.
        Returns true if any of the elements are different.

        Parameters:
        rhs - [in] RPY to compare with
        Returns:
        True if not equal.

      • 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