Package org.robwork.sdurw

Class Rotation3f

java.lang.Object

org.robwork.sdurw.Rotation3f

public class Rotation3f
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
Rotation3f()	A rotation matrix with uninitialized storage.
Rotation3f(float v0, float v1, float v2, float v3, float v4, float v5, float v6, float v7, float v8)	Constructs an initialized 3x3 rotation matrix
Rotation3f(long cPtr, boolean cMemoryOwn)
Rotation3f(Rotation3f R)
Rotation3f(Vector3f i, Vector3f j, Vector3f k)	Constructs an initialized 3x3 rotation matrix

Method Summary

Modifier and Type	Method	Description
void	delete()
boolean	equal(Rotation3f rot, float precision)	Compares rotations with a given precision Performs an element wise comparison.
boolean	equals(Rotation3f rhs)	Comparison operator. The comparison operator makes a element wise comparison. Returns true only if all elements are equal.
float	get(long row, long column)
Vector3f	getCol(long i)	Returns the i'th column of the rotation matrix
static long	getCPtr(Rotation3f obj)
Vector3f	getRow(long i)	Returns the i'th row of the rotation matrix
static Rotation3f	identity()	Constructs a 3x3 rotation matrix set to identity
Rotation3f	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(float precision)	Verify that this rotation is a proper rotation
EAAf	multiply(EAAf bTKc)
InertiaMatrixf	multiply(InertiaMatrixf bRc)
Rotation3f	multiply(Rotation3f other)	Calculates this rotation multiplied by other rotation.
Vector3f	multiply(Vector3f 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, float d)
static Rotation3f	skew(Vector3f 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

Rotation3f

public Rotation3f(long cPtr,
                  boolean cMemoryOwn)

Rotation3f

public Rotation3f()

A rotation matrix with uninitialized storage.

Rotation3f

public Rotation3f(float v0,
                  float v1,
                  float v2,
                  float v3,
                  float v4,
                  float v5,
                  float v6,
                  float v7,
                  float v8)

Constructs an initialized 3x3 rotation matrix

Rotation3f

public Rotation3f(Vector3f i,
                  Vector3f j,
                  Vector3f k)

Constructs an initialized 3x3 rotation matrix

Rotation3f

public Rotation3f(Rotation3f R)

Method Detail

getCPtr

public static long getCPtr(Rotation3f obj)

delete

public void delete()

identity

public static Rotation3f 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 Vector3f 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 Vector3f 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(Rotation3f 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(Rotation3f rot,
                     float 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(float precision)

Verify that this rotation is a proper rotation

Returns:

True if this rotation is considered a proper rotation

multiply

public Rotation3f multiply(Rotation3f other)

Calculates this rotation multiplied by other rotation.

Parameters:

other - [in] rotation to multiply with

Returns:

the result of multiplication.

multiply

public Vector3f multiply(Vector3f vec)

Calculates this rotation multiplied by a vector.

Parameters:

vec - [in] vector to multiply with.

Returns:

the result of multiplication.

skew

public static Rotation3f skew(Vector3f 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 Rotation3f 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 EAAf multiply(EAAf bTKc)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

get

public float get(long row,
                 long column)

set

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

multiply

public InertiaMatrixf multiply(InertiaMatrixf bRc)