Package us.ihmc.euclid.axisAngle

Class AxisAngle

java.lang.Object

us.ihmc.euclid.axisAngle.AxisAngle

All Implemented Interfaces:

AxisAngleBasics, AxisAngleReadOnly, Clearable, EpsilonComparable<AxisAngle>, GeometricallyComparable<AxisAngle>, Settable<AxisAngle>, Orientation3DBasics, Orientation3DReadOnly

public class AxisAngle
extends java.lang.Object
implements AxisAngleBasics, EpsilonComparable<AxisAngle>, Settable<AxisAngle>, GeometricallyComparable<AxisAngle>

An AxisAngle is used to represent a 3D orientation by a unitary axis of components (x, y, z) and an angle of rotation usually expressed in radians.

This version of axis-angle uses double precision fields to save the value of each component. It is meant for garbage free usage.

Author:

Sylvain Bertrand

Field Summary

Fields inherited from interface us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly

ORIENTATION_2D_EPSILON

Constructor Summary

Constructors

Constructor	Description
AxisAngle()	Creates an axis-angle that represents a "zero" rotation.
AxisAngle(double[] axisAngleArray)	Creates an axis-angle initialized with the values contained in the given array: this.setX(axisAngleArray[0]); this.setY(axisAngleArray[1]); this.setZ(axisAngleArray[2]); this.setAngle(axisAngleArray[3]);
AxisAngle(double yaw, double pitch, double roll)	Creates an axis-angle such that it represents the same orientation the yaw-pitch-roll angles represents.
AxisAngle(double x, double y, double z, double angle)	Creates an axis-angle with the given values of the axis (x, y, z) and of the angle angle.
AxisAngle(Orientation3DReadOnly orientation)	Creates an axis-angle that represents the same orientation as the given one.
AxisAngle(Vector3DReadOnly rotationVector)	Creates an axis-angle such that it represents the same orientation the rotation vector represents.
AxisAngle(Vector3DReadOnly axis, double angle)	Create an axis-angle from the given axis and angle.

Method Summary

Modifier and Type	Method	Description
boolean	epsilonEquals(AxisAngle other, double epsilon)	Tests on a per component basis, if this axis-angle is equal to other to an epsilon.
boolean	equals(java.lang.Object object)	Tests if the given object's class is the same as this, in which case the method returns AxisAngleReadOnly.equals(AxisAngleReadOnly), it returns false otherwise.
boolean	geometricallyEquals(AxisAngle other, double epsilon)	Tests if this and other represent the same orientation to an epsilon.
double	getAngle()	Returns the angle of this axis-angle, usually expressed in radians.
double	getX()	Returns the x-component of the unitary axis of this axis-angle.
double	getY()	Returns the y-component of the unitary axis of this axis-angle.
double	getZ()	Returns the z-component of the unitary axis of this axis-angle.
int	hashCode()	Calculates and returns a hash code value from the value of each component of this axis-angle.
void	set(AxisAngle other)	Sets this axis-angle to the same value as the given axis-angle other.
void	setAngle(double angle)	Sets a new angle to this axis-angle.
void	setX(double x)	Sets a new x-component for the axis of this axis-angle.
void	setY(double y)	Sets a new y-component for the axis of this axis-angle.
void	setZ(double z)	Sets a new z-component for the axis of this axis-angle.
java.lang.String	toString()	Provides a String representation of this axis-angle as follows: (x, y, z, angle).

Methods inherited from interface us.ihmc.euclid.axisAngle.interfaces.AxisAngleBasics

absolute, append, appendInvertOther, appendPitchRotation, appendRollRotation, appendYawRotation, containsNaN, inverse, invert, multiply, multiply, multiplyInvertBoth, multiplyInvertOther, multiplyInvertThis, negate, normalize, normalizeAxis, preMultiply, preMultiplyInvertBoth, preMultiplyInvertOther, preMultiplyInvertThis, prepend, prependInvertOther, prependPitchRotation, prependRollRotation, prependYawRotation, scaleAngle, set, set, set, set, set, set, set, set, setAndNegate, setAxisAngle, setElement, setQuaternion, setRotationMatrix, setRotationVector, setToNaN, setToZero, setYawPitchRoll

Methods inherited from interface us.ihmc.euclid.axisAngle.interfaces.AxisAngleReadOnly

addTransform, axisNorm, checkIfIsZOnly, distance, epsilonEquals, equals, geometricallyEquals, get, get, get, get, get, get, get, getAngle32, getElement, getElement32, getEuler, getPitch, getRoll, getRotationVector, getX32, getY32, getYaw, getYawPitchRoll, getZ32, inverseTransform, inverseTransform, inverseTransform, inverseTransform, isAxisUnitary, isOrientation2D, isZOnly, transform, transform, transform, transform

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface us.ihmc.euclid.orientation.interfaces.Orientation3DBasics

appendInvertBoth, appendInvertThis, prependInvertBoth, prependInvertThis, setAndInvert, setAndNormalize, setEuler, setEuler, setRotationVector, setYawPitchRoll

Methods inherited from interface us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly

addTransform, checkIfOrientation2D, checkIfOrientation2D, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, isOrientation2D, toStringAsYawPitchRoll, transform, transform, transform, transform, transform, transform, transform, transform, transform, transform, transform, transform

Constructor Detail

AxisAngle

public AxisAngle()

Creates an axis-angle that represents a "zero" rotation. The axis is equal to (1, 0, 0) and the angle to 0.

AxisAngle

public AxisAngle(Orientation3DReadOnly orientation)

Creates an axis-angle that represents the same orientation as the given one.

Parameters:

orientation - the orientation to initialize this axis-angle. Not modified.

AxisAngle

public AxisAngle(double x,
                 double y,
                 double z,
                 double angle)

Creates an axis-angle with the given values of the axis (x, y, z) and of the angle angle.

Parameters:

x - x-component of the axis.

y - y-component of the axis.

z - z-component of the axis.

angle - the angle value.

AxisAngle

public AxisAngle(double[] axisAngleArray)

Creates an axis-angle initialized with the values contained in the given array:

• this.setX(axisAngleArray[0]);
• this.setY(axisAngleArray[1]);
• this.setZ(axisAngleArray[2]);
• this.setAngle(axisAngleArray[3]);

Parameters:

axisAngleArray - the array containing the values for this axis-angle. Not modified.

AxisAngle

public AxisAngle(Vector3DReadOnly axis,
                 double angle)

Create an axis-angle from the given axis and angle.

Parameters:

axis - the axis. Not modified

angle - the angle value.

AxisAngle

public AxisAngle(Vector3DReadOnly rotationVector)

Creates an axis-angle such that it represents the same orientation the rotation vector represents. See AxisAngleConversion.convertRotationVectorToAxisAngle(Vector3DReadOnly, AxisAngleBasics).

WARNING: a rotation vector is different from a yaw-pitch-roll or Euler angles representation. A rotation vector is equivalent to the axis of an axis-angle that is multiplied by the angle of the same axis-angle.

Parameters:

rotationVector - the rotation vector used to create this axis-angle. Not modified.

AxisAngle

public AxisAngle(double yaw,
                 double pitch,
                 double roll)

Creates an axis-angle such that it represents the same orientation the yaw-pitch-roll angles represents. See AxisAngleConversion.convertYawPitchRollToAxisAngle(double, double, double, AxisAngleBasics).

Parameters:

yaw - the angle to rotate about the z-axis.

pitch - the angle to rotate about the y-axis.

roll - the angle to rotate about the x-axis.

Method Detail

set

public void set(AxisAngle other)

Sets this axis-angle to the same value as the given axis-angle other.

Specified by:

set in interface Settable<AxisAngle>

Parameters:

other - the other axis-angle. Not modified.

setX

public final void setX(double x)

Sets a new x-component for the axis of this axis-angle.

Specified by:

setX in interface AxisAngleBasics

Parameters:

x - the new axis x-component.

setY

public final void setY(double y)

Sets a new y-component for the axis of this axis-angle.

Specified by:

setY in interface AxisAngleBasics

Parameters:

y - the new axis y-component.

setZ

public final void setZ(double z)

Sets a new z-component for the axis of this axis-angle.

Specified by:

setZ in interface AxisAngleBasics

Parameters:

z - the new axis z-component.

setAngle

public final void setAngle(double angle)

Sets a new angle to this axis-angle.

Specified by:

setAngle in interface AxisAngleBasics

Parameters:

angle - the new angle.

getX

public double getX()

Returns the x-component of the unitary axis of this axis-angle.

Specified by:

getX in interface AxisAngleReadOnly

Returns:

the x-component of the unitary axis.

getY

public double getY()

Returns the y-component of the unitary axis of this axis-angle.

Specified by:

getY in interface AxisAngleReadOnly

Returns:

the y-component of the unitary axis.

getZ

public double getZ()

Returns the z-component of the unitary axis of this axis-angle.

Specified by:

getZ in interface AxisAngleReadOnly

Returns:

the z-component of the unitary axis.

getAngle

public final double getAngle()

Returns the angle of this axis-angle, usually expressed in radians.

Specified by:

getAngle in interface AxisAngleReadOnly

Returns:

the angle.

equals

public boolean equals(java.lang.Object object)

Tests if the given object's class is the same as this, in which case the method returns AxisAngleReadOnly.equals(AxisAngleReadOnly), it returns false otherwise.

Overrides:

equals in class java.lang.Object

Parameters:

object - the object to compare against this. Not modified.

Returns:

true if object and this are exactly equal, false otherwise.

epsilonEquals

public boolean epsilonEquals(AxisAngle other,
                             double epsilon)

Tests on a per component basis, if this axis-angle is equal to other to an epsilon. A failing test does not necessarily mean that the two axis-angles represent two different orientations.

Specified by:

epsilonEquals in interface EpsilonComparable<AxisAngle>

Parameters:

other - the other axis-angle to compare against this. Not modified.

epsilon - tolerance to use when comparing each component.

Returns:

true if the two axis-angle are equal component-wise, false otherwise.

geometricallyEquals

public boolean geometricallyEquals(AxisAngle other,
                                   double epsilon)

Tests if this and other represent the same orientation to an epsilon.

Two axis-angle are considered geometrically equal if the magnitude of their difference is less than or equal to epsilon.

Note that this.geometricallyEquals(other, epsilon) == true does not necessarily imply this.epsilonEquals(other, epsilon) and vice versa.

Specified by:

geometricallyEquals in interface GeometricallyComparable<AxisAngle>

Parameters:

other - the other axis-angle to compare against this. Not modified.

epsilon - the maximum angle for the two quaternions to be considered equal.

Returns:

true if the two axis-angle represent the same geometry, false otherwise.

toString

public java.lang.String toString()

Provides a String representation of this axis-angle as follows: (x, y, z, angle).

Overrides:

toString in class java.lang.Object

Returns:

the String representing this axis-angle.

hashCode

public int hashCode()

Calculates and returns a hash code value from the value of each component of this axis-angle.

Overrides:

hashCode in class java.lang.Object

Returns:

the hash code value for this axis-angle.