Package org.robwork.sdurw_math

Class Rotation3D

java.lang.Object

org.robwork.sdurw_math.Rotation3D

public class Rotation3D
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
Rotation3D()	A rotation matrix with uninitialized storage.
Rotation3D(double r11, double r12, double r13, double r21, double r22, double r23, double r31, double r32, double r33)
Rotation3D(long cPtr, boolean cMemoryOwn)
Rotation3D(Vector3D i, Vector3D j, Vector3D k)

Method Summary

Modifier and Type	Method	Description
Rotation3D	assign(Rotation3DVector rot)	Assignment of RotationVector to Rotation3D
void	delete()
EigenMatrix3d	e()	Returns a Eigen 3x3 matrix \mathbf{M}\in SO(3) that represents this rotation
boolean	equal(Rotation3D rot)	Compares rotations with a given precision Performs an element wise comparison.
boolean	equal(Rotation3D rot, double precision)	Compares rotations with a given precision Performs an element wise comparison.
boolean	equals(Rotation3D rhs)	Comparison operator. The comparison operator makes a element wise comparison. Returns true only if all elements are equal.
double	get(long row, long column)
Vector3D	getCol(long i)	Returns the i'th column of the rotation matrix
static long	getCPtr(Rotation3D obj)
Vector3D	getRow(long i)	Returns the i'th row of the rotation matrix
static Rotation3D	identity()
Rotation3D	inverse()
Rotation3D	inverse(boolean copy)	Calculate the inverse.
boolean	isProperRotation()	Verify that this rotation is a proper rotation
boolean	isProperRotation(double precision)	Verify that this rotation is a proper rotation
EAA	multiply(EAA rhs)
InertiaMatrixd	multiply(InertiaMatrixd rhs)
Rotation3D	multiply(Rotation3D bRc)	Calculates \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}}
static void	multiply(Rotation3D a, Rotation3D b, Rotation3D result)	Write to result the product a * b.
static void	multiply(Rotation3D a, Vector3D b, Vector3D result)	Write to result the product a * b.
Vector3D	multiply(Vector3D bVc)	Calculates \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}}
VelocityScrew6D	multiply(VelocityScrew6D rhs)
Wrench6D	multiply(Wrench6D rhs)
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.
boolean	notEqual(Rotation3D rhs)	Comparison operator. The comparison operator makes a element wise comparison. Returns true if any of the elements are different.
void	set(long row, long column, double d)
static Rotation3D	skew(Vector3D v)	Creates a skew symmetric matrix from a Vector3D.
java.lang.String	toString()
double	tr()

Methods inherited from class java.lang.Object

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

Constructor Detail

Rotation3D

public Rotation3D(long cPtr,
                  boolean cMemoryOwn)

Rotation3D

public Rotation3D()

A rotation matrix with uninitialized storage.

Rotation3D

public Rotation3D(double r11,
                  double r12,
                  double r13,
                  double r21,
                  double r22,
                  double r23,
                  double r31,
                  double r32,
                  double r33)

Rotation3D

public Rotation3D(Vector3D i,
                  Vector3D j,
                  Vector3D k)

Method Detail

getCPtr

public static long getCPtr(Rotation3D obj)

delete

public void delete()

identity

public static Rotation3D identity()

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).

get

public double get(long row,
                  long column)

set

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

getRow

public Vector3D 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 Vector3D 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(Rotation3D 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.

notEqual

public boolean notEqual(Rotation3D rhs)

Comparison operator.

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

Parameters:

rhs - [in] Rotation to compare with

Returns:

True if not equal.

equal

public boolean equal(Rotation3D 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.

equal

public boolean equal(Rotation3D rot)

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

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)

multiply

public Rotation3D multiply(Rotation3D bRc)

Calculates \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}}

Parameters:

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

Returns:

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

multiply

public Vector3D multiply(Vector3D bVc)

Calculates \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}}

Parameters:

bVc - [in] \robabx{b}{c}{\mathbf{v}}

Returns:

\robabx{a}{c}{\mathbf{v}}

skew

public static Rotation3D skew(Vector3D 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 void multiply(Rotation3D a,
                            Rotation3D b,
                            Rotation3D result)

Write to result the product a * b.

multiply

public static void multiply(Rotation3D a,
                            Vector3D b,
                            Vector3D result)

Write to result the product a * b.

inverse

public Rotation3D inverse()

inverse

public Rotation3D inverse(boolean copy)

Calculate the inverse.

Parameters:

copy - [in] if coopy is false, This function changes the object that it is invoked
on, but this is about x5 faster than rot = inverse( rot ). else it changes the object,
making it a bit slower.

Returns:

the inverse rotation.

tr

public double tr()

assign

public Rotation3D assign(Rotation3DVector rot)

Assignment of RotationVector to Rotation3D

Parameters:

rot - [in] Rotation input

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

multiply

public EAA multiply(EAA rhs)

multiply

public InertiaMatrixd multiply(InertiaMatrixd rhs)

multiply

public Wrench6D multiply(Wrench6D rhs)

multiply

public VelocityScrew6D multiply(VelocityScrew6D rhs)