Class 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)  
    • 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)
      • 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)