Package org.robwork.sdurw_math

Class Rotation3Df

java.lang.Object

org.robwork.sdurw_math.Rotation3Df

public class Rotation3Df
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
Rotation3Df()	A rotation matrix with uninitialized storage.
Rotation3Df(float r11, float r12, float r13, float r21, float r22, float r23, float r31, float r32, float r33)
Rotation3Df(long cPtr, boolean cMemoryOwn)
Rotation3Df(Vector3Df i, Vector3Df j, Vector3Df k)

Method Summary

Modifier and Type	Method	Description
Rotation3Df	assign(Rotation3DVectorf rot)	Assignment of RotationVector to Rotation3D
void	delete()
EigenMatrix3f	e()	Returns a Eigen 3x3 matrix \mathbf{M}\in SO(3) that represents this rotation
boolean	equal(Rotation3Df rot)	Compares rotations with a given precision Performs an element wise comparison.
boolean	equal(Rotation3Df rot, float precision)	Compares rotations with a given precision Performs an element wise comparison.
boolean	equals(Rotation3Df 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)
Vector3Df	getCol(long i)	Returns the i'th column of the rotation matrix
static long	getCPtr(Rotation3Df obj)
Vector3Df	getRow(long i)	Returns the i'th row of the rotation matrix
static Rotation3Df	identity()
Rotation3Df	inverse()
Rotation3Df	inverse(boolean copy)	Calculate the inverse.
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 rhs)
InertiaMatrixf	multiply(InertiaMatrixf rhs)
Rotation3Df	multiply(Rotation3Df bRc)	Calculates \robabx{a}{c}{\mathbf{R}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{R}}
static void	multiply(Rotation3Df a, Rotation3Df b, Rotation3Df result)	Write to result the product a * b.
static void	multiply(Rotation3Df a, Vector3Df b, Vector3Df result)	Write to result the product a * b.
Vector3Df	multiply(Vector3Df bVc)	Calculates \robabx{a}{c}{\mathbf{v}} = \robabx{a}{b}{\mathbf{R}} \robabx{b}{c}{\mathbf{v}}
VelocityScrew6Df	multiply(VelocityScrew6Df rhs)
Wrench6Df	multiply(Wrench6Df 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(Rotation3Df 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, float d)
static Rotation3Df	skew(Vector3Df v)	Creates a skew symmetric matrix from a Vector3D.
java.lang.String	toString()
float	tr()

Methods inherited from class java.lang.Object

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

Constructor Detail

Rotation3Df

public Rotation3Df(long cPtr,
                   boolean cMemoryOwn)

Rotation3Df

public Rotation3Df()

A rotation matrix with uninitialized storage.

Rotation3Df

public Rotation3Df(float r11,
                   float r12,
                   float r13,
                   float r21,
                   float r22,
                   float r23,
                   float r31,
                   float r32,
                   float r33)

Rotation3Df

public Rotation3Df(Vector3Df i,
                   Vector3Df j,
                   Vector3Df k)

Method Detail

getCPtr

public static long getCPtr(Rotation3Df obj)

delete

public void delete()

identity

public static Rotation3Df 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 float get(long row,
                 long column)

set

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

getRow

public Vector3Df 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 Vector3Df 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(Rotation3Df 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(Rotation3Df 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(Rotation3Df 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.

equal

public boolean equal(Rotation3Df 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(float precision)

Verify that this rotation is a proper rotation

Returns:

True if this rotation is considered a proper rotation

e

public EigenMatrix3f e()

Returns a Eigen 3x3 matrix \mathbf{M}\in SO(3) that represents this rotation

Returns:

\mathbf{M}\in SO(3)

multiply

public Rotation3Df multiply(Rotation3Df 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 Vector3Df multiply(Vector3Df 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 Rotation3Df skew(Vector3Df 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(Rotation3Df a,
                            Rotation3Df b,
                            Rotation3Df result)

Write to result the product a * b.

multiply

public static void multiply(Rotation3Df a,
                            Vector3Df b,
                            Vector3Df result)

Write to result the product a * b.

inverse

public Rotation3Df inverse()

inverse

public Rotation3Df 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 float tr()

assign

public Rotation3Df assign(Rotation3DVectorf 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 EAAf multiply(EAAf rhs)

multiply

public InertiaMatrixf multiply(InertiaMatrixf rhs)

multiply

public Wrench6Df multiply(Wrench6Df rhs)

multiply

public VelocityScrew6Df multiply(VelocityScrew6Df rhs)