Package org.robwork.sdurw_math
Class RPYd
- java.lang.Object
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- org.robwork.sdurw_math.Rotation3DVectord
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- org.robwork.sdurw_math.RPYd
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public class RPYd extends Rotation3DVectord
A class for representing Roll-Pitch-Yaw Euler angle rotations.
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Constructor Summary
Constructors Constructor Description RPYd()
Constructs rotation in which all elements are initialized to 0RPYd(double roll, double pitch, double yaw)
Constructs an initialized roll-pitch-yaw euler angle vectorRPYd(long cPtr, boolean cMemoryOwn)
RPYd(Rotation3Dd 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)))
RPYd(Rotation3Dd 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)))
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
boolean
equals(RPYd 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(RPYd obj)
boolean
notEqual(RPYd 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.Rotation3Dd
toRotation3D()
Returns the corresponding 3\times 3 Rotation matrix-
Methods inherited from class org.robwork.sdurw_math.Rotation3DVectord
getCPtr
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Constructor Detail
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RPYd
public RPYd(long cPtr, boolean cMemoryOwn)
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RPYd
public RPYd()
Constructs rotation in which all elements are initialized to 0
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RPYd
public RPYd(double roll, double pitch, double yaw)
Constructs an initialized roll-pitch-yaw euler angle vector- Parameters:
roll
- Rotation around zpitch
- Rotation around yyaw
- Rotation around x
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RPYd
public RPYd(Rotation3Dd 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.
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RPYd
public RPYd(Rotation3Dd 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}
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Method Detail
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getCPtr
public static long getCPtr(RPYd obj)
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delete
public void delete()
- Overrides:
delete
in classRotation3DVectord
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toRotation3D
public Rotation3Dd toRotation3D()
Description copied from class:Rotation3DVectord
Returns the corresponding 3\times 3 Rotation matrix- Overrides:
toRotation3D
in classRotation3DVectord
- Returns:
- The rotation matrix
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get
public double get(long i)
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set
public void set(long i, double d)
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equals
public boolean equals(RPYd 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.
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notEqual
public boolean notEqual(RPYd 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.
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size
public long size()
size of this RPY.- Returns:
- the value 3
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