Package org.robwork.sdurw

Class Rotation3d

java.lang.Object

org.robwork.sdurw.Rotation3d

public class Rotation3d
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
Rotation3d()	A rotation matrix with uninitialized storage.
Rotation3d(double v0, double v1, double v2, double v3, double v4, double v5, double v6, double v7, double v8)	Constructs an initialized 3x3 rotation matrix
Rotation3d(long cPtr, boolean cMemoryOwn)
Rotation3d(Rotation3d R)
Rotation3d(Vector3d i, Vector3d j, Vector3d k)	Constructs an initialized 3x3 rotation matrix

Method Summary

Modifier and Type	Method	Description
void	delete()
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()	Constructs a 3x3 rotation matrix set to identity
Rotation3d	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 )
boolean	isProperRotation()	Verify that this rotation is a proper rotation
boolean	isProperRotation(double precision)	Verify that this rotation is a proper rotation
EAAd	multiply(EAAd bTKc)
InertiaMatrixd	multiply(InertiaMatrixd bRc)
Rotation3d	multiply(Rotation3d other)	Calculates this rotation multiplied by other rotation.
Vector3d	multiply(Vector3d vec)	Calculates this rotation multiplied by a vector.
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.
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()

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 v0,
                  double v1,
                  double v2,
                  double v3,
                  double v4,
                  double v5,
                  double v6,
                  double v7,
                  double v8)

Constructs an initialized 3x3 rotation matrix

Rotation3d

public Rotation3d(Vector3d i,
                  Vector3d j,
                  Vector3d k)

Constructs an initialized 3x3 rotation matrix

Rotation3d

public Rotation3d(Rotation3d R)

Method Detail

getCPtr

public static long getCPtr(Rotation3d obj)

delete

public void delete()

identity

public static Rotation3d identity()

Constructs a 3x3 rotation matrix set to identity

Returns:

a 3x3 identity rotation matrix

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 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.

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.

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

multiply

public Rotation3d multiply(Rotation3d other)

Calculates this rotation multiplied by other rotation.

Parameters:

other - [in] rotation to multiply with

Returns:

the result of multiplication.

multiply

public Vector3d multiply(Vector3d vec)

Calculates this rotation multiplied by a vector.

Parameters:

vec - [in] vector to multiply with.

Returns:

the result of multiplication.

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

inverse

public Rotation3d 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 )

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)

multiply

public InertiaMatrixd multiply(InertiaMatrixd bRc)