AxisAngleReadOnly

All Superinterfaces:

Orientation3DReadOnly

All Known Subinterfaces:

AxisAngleBasics

All Known Implementing Classes:

AxisAngle, AxisAngle32
```
public interface AxisAngleReadOnly
extends Orientation3DReadOnly
```
Read-only interface for an axis-angle object.
An axis-angle 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.

Author:

Sylvain Bertrand

Field Summary
- Fields inherited from interface us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly
  ORIENTATION_2D_EPSILON

Method Summary

All Methods Instance Methods Abstract Methods Default Methods Deprecated Methods
Modifier and Type	Method	Description
`default void`	`addTransform(Tuple3DReadOnly tupleOriginal, Tuple3DBasics tupleTransformed)`	Transforms the tuple `tupleOriginal` by this orientation and adds the result to `tupleTransformed`.
`default double`	`axisNorm()`	Calculates and returns the norm of the axis of this axis-angle.
`default void`	`checkIfIsZOnly(double epsilon)`	Deprecated. Use `Orientation3DReadOnly.checkIfOrientation2D(double)` instead
`default boolean`	`containsNaN()`	Tests if this axis-angle contains a `Double.NaN`.
`default double`	`distance(AxisAngleReadOnly other)`	Computes and returns the distance from this axis-angle to `other`.
`default boolean`	`epsilonEquals(AxisAngleReadOnly other, double epsilon)`	Tests on a per component basis, if this axis-angle is equal to `other` to an `epsilon`.
`default boolean`	`equals(AxisAngleReadOnly other)`	Tests on a per component basis, if this axis-angle is exactly equal to `other`.
`default boolean`	`geometricallyEquals(AxisAngleReadOnly other, double epsilon)`	Tests if `this` and `other` represent the same orientation to an `epsilon`.
`default void`	`get(double[] axisAngleArrayToPack)`	Packs the components of this axis-angle in an array starting from its first index.
`default void`	`get(float[] axisAngleArrayToPack)`	Packs the components of this axis-angle in an array starting from its first index.
`default void`	`get(int startIndex, double[] axisAngleArrayToPack)`	Packs the components of this axis-angle in an array starting from `startIndex`.
`default void`	`get(int startIndex, float[] axisAngleArrayToPack)`	Packs the components of this axis-angle in an array starting from `startIndex`.
`default void`	`get(AxisAngleBasics axisAngleToPack)`	Converts, if necessary, and packs this orientation into an axis-angle.
`default void`	`get(RotationMatrix rotationMatrixToPack)`	Converts, if necessary, and packs this orientation into a 3-by-3 rotation matrix.
`default void`	`get(QuaternionBasics quaternionToPack)`	Converts, if necessary, and packs this orientation in a quaternion.
`double`	`getAngle()`	Returns the angle of this axis-angle, usually expressed in radians.
`default float`	`getAngle32()`	Returns the angle of this axis-angle, usually expressed in radians.
`default double`	`getElement(int index)`	Selects a component of this axis-angle based on `index` and returns its value.
`default float`	`getElement32(int index)`	Selects a component of this axis-angle based on `index` and returns its value.
`default void`	`getEuler(Tuple3DBasics eulerAnglesToPack)`	Computes and packs the orientation described by this orientation as the Euler angles.
`default double`	`getPitch()`	Computes and returns the pitch angle from the yaw-pitch-roll representation of this orientation.
`default double`	`getRoll()`	Computes and returns the roll angle from the yaw-pitch-roll representation of this orientation.
`default void`	`getRotationVector(Vector3DBasics rotationVectorToPack)`	Converts and packs this orientation in a 3D rotation vector.
`double`	`getX()`	Returns the x-component of the unitary axis of this axis-angle.
`default float`	`getX32()`	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.
`default float`	`getY32()`	Returns the y-component of the unitary axis of this axis-angle.
`default double`	`getYaw()`	Computes and returns the yaw angle from the yaw-pitch-roll representation of this orientation.
`default void`	`getYawPitchRoll(double[] yawPitchRollToPack)`	Converts and packs this orientation in a yaw-pitch-roll representation.
`double`	`getZ()`	Returns the z-component of the unitary axis of this axis-angle.
`default float`	`getZ32()`	Returns the z-component of the unitary axis of this axis-angle.
`default void`	`inverseTransform(Matrix3DReadOnly matrixOriginal, Matrix3D matrixTransformed)`	Performs the inverse of the transform to the matrix `matrixOriginal` by this orientation and stores the result in `matrixTransformed`.
`default void`	`inverseTransform(Tuple2DReadOnly tupleOriginal, Tuple2DBasics tupleTransformed, boolean checkIfOrientation2D)`	Performs the inverse of the transform to the tuple `tupleOriginal` by this orientation and stores the result in `tupleTransformed`.
`default void`	`inverseTransform(Tuple3DReadOnly tupleOriginal, Tuple3DBasics tupleTransformed)`	Performs the inverse of the transform to the tuple `tupleOriginal` by this orientation and stores the result in `tupleTransformed`.
`default void`	`inverseTransform(Vector4DReadOnly vectorOriginal, Vector4DBasics vectorTransformed)`	Performs the inverse of the transform to the vector part, i.e.
`default boolean`	`isAxisUnitary(double epsilon)`	Tests if the axis of this axis-angle is of unit-length.
`default boolean`	`isOrientation2D(double epsilon)`	Tests if this orientation 3D actually represents a rotation strictly around the z-axis.
`default boolean`	`isZOnly(double epsilon)`	Deprecated. Use `isOrientation2D(double)` instead
`default void`	`transform(Matrix3DReadOnly matrixOriginal, Matrix3D matrixTransformed)`	Transforms the matrix `matrixOriginal` by this orientation and stores the result in `matrixTransformed`.
`default void`	`transform(Tuple2DReadOnly tupleOriginal, Tuple2DBasics tupleTransformed, boolean checkIfOrientation2D)`	Transforms the tuple `tupleOriginal` by this orientation and stores the result in `tupleTransformed`.
`default void`	`transform(Tuple3DReadOnly tupleOriginal, Tuple3DBasics tupleTransformed)`	Transforms the tuple `tupleOriginal` by this orientation and stores the result in `tupleTransformed`.
`default void`	`transform(Vector4DReadOnly vectorOriginal, Vector4DBasics vectorTransformed)`	Transforms the vector part, i.e.

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

- Method Detail
  - getAngle
```
double getAngle()
```
    Returns the angle of this axis-angle, usually expressed in radians.
    
    Returns:
    
    the angle.
  - getAngle32
```
default float getAngle32()
```
    Returns the angle of this axis-angle, usually expressed in radians.
    
    Returns:
    
    the angle.
  - getX
```
double getX()
```
    Returns the x-component of the unitary axis of this axis-angle.
    
    Returns:
    
    the x-component of the unitary axis.
  - getX32
```
default float getX32()
```
    Returns the x-component of the unitary axis of this axis-angle.
    
    Returns:
    
    the x-component of the unitary axis.
  - getY
```
double getY()
```
    Returns the y-component of the unitary axis of this axis-angle.
    
    Returns:
    
    the y-component of the unitary axis.
  - getY32
```
default float getY32()
```
    Returns the y-component of the unitary axis of this axis-angle.
    
    Returns:
    
    the y-component of the unitary axis.
  - getZ
```
double getZ()
```
    Returns the z-component of the unitary axis of this axis-angle.
    
    Returns:
    
    the z-component of the unitary axis.
  - getZ32
```
default float getZ32()
```
    Returns the z-component of the unitary axis of this axis-angle.
    
    Returns:
    
    the z-component of the unitary axis.
  - containsNaN
```
default boolean containsNaN()
```
    Tests if this axis-angle contains a Double.NaN.
    
    Returns:
    
    true if this axis-angle contains a Double.NaN, false otherwise.
  - axisNorm
```
default double axisNorm()
```
    Calculates and returns the norm of the axis of this axis-angle.
    norm = √(x² + y² + z²)
    
    Returns:
    
    the norm's value of the axis.
  - isAxisUnitary
```
default boolean isAxisUnitary(double epsilon)
```
    Tests if the axis of this axis-angle is of unit-length.
    
    Parameters:
    
    epsilon - tolerance to use in this test.
    
    Returns:
    
    true if the axis is unitary, false otherwise.
  - isZOnly
```
@Deprecated
default boolean isZOnly(double epsilon)
```
    Deprecated.
    Use isOrientation2D(double) instead
    
    Tests if this axis-angle represents a rotation around the z-axis.
    This is commonly used to test if the axis-angle can be used to transform 2D geometry object.
    
    Parameters:
    
    epsilon - the tolerance to use.
    
    Returns:
    
    true if this axis-angle represents a rotation around the z-axis, false otherwise.
  - checkIfIsZOnly
```
@Deprecated
default void checkIfIsZOnly(double epsilon)
```
    Deprecated.
    Use Orientation3DReadOnly.checkIfOrientation2D(double) instead
    
    Asserts that this axis-angle represents a rotation around the z-axis.
    This is commonly used to test if the axis-angle can be used to transform 2D geometry object.
    
    Parameters:
    
    epsilon - the tolerance to use.
    
    Throws:
    
    NotAMatrix2DException - if this axis-angle does not represent a rotation around the z-axis.
  - isOrientation2D
```
default boolean isOrientation2D(double epsilon)
```
    Tests if this orientation 3D actually represents a rotation strictly around the z-axis.
    This is commonly used to test if this orientation can be used to transform 2D geometry object.
    
    The implementation of this test depends on the type of representation used for this orientation.
    
    An axis-angle is an orientation 2D if either:
    - the absolute value of the angle is less that epsilon.
    - the absolute value of the x and y components of the axis are both less than epsilon.
    Specified by:
    
    isOrientation2D in interface Orientation3DReadOnly
    
    Parameters:
    
    epsilon - the tolerance to use.
    
    Returns:
    
    true if this orientation represents a 2D orientation in the XY-plane, false otherwise.
  - distance
```
default double distance(AxisAngleReadOnly other)
```
    Computes and returns the distance from this axis-angle to other.
    
    Parameters:
    
    other - the other axis-angle to measure the distance. Not modified.
    
    Returns:
    
    the angle representing the distance between the two axis-angles. It is contained in [0, 2pi]
  - get
```
default void get(RotationMatrix rotationMatrixToPack)
```
    Converts, if necessary, and packs this orientation into a 3-by-3 rotation matrix.
    
    Specified by:
    
    get in interface Orientation3DReadOnly
    
    Parameters:
    
    rotationMatrixToPack - the rotation matrix into which this orientation is to be stored. Modified.
  - get
```
default void get(AxisAngleBasics axisAngleToPack)
```
    Converts, if necessary, and packs this orientation into an axis-angle.
    
    Specified by:
    
    get in interface Orientation3DReadOnly
    
    Parameters:
    
    axisAngleToPack - the axis-angle into which this orientation is to be stored. Modified.
  - get
```
default void get(QuaternionBasics quaternionToPack)
```
    Converts, if necessary, and packs this orientation in a quaternion.
    
    Specified by:
    
    get in interface Orientation3DReadOnly
    
    Parameters:
    
    quaternionToPack - the quaternion into which this orientation is to be stored. Modified.
  - getRotationVector
```
default void getRotationVector(Vector3DBasics rotationVectorToPack)
```
    Converts and packs this orientation in a 3D rotation vector.
    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.
    
    Specified by:
    
    getRotationVector in interface Orientation3DReadOnly
    
    Parameters:
    
    rotationVectorToPack - the rotation vector in which this orientation is to be stored. Modified.
  - getYawPitchRoll
```
default void getYawPitchRoll(double[] yawPitchRollToPack)
```
    Converts and packs this orientation in a yaw-pitch-roll representation.
    WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.
    
    The yaw-pitch-roll representation describes a 3D orientation as a succession of three rotations around three axes:
    1. yaw: rotation around the z-axis,
    2. pitch: rotation around the y-axis,
    3. roll: rotation around the x-axis.
    As an example, a rotation matrix can be computed from a yaw-pitch-roll representation as follows:
```
     / cos(yaw) -sin(yaw) 0 \   /  cos(pitch) 0 sin(pitch) \   / 1     0          0     \
 R = | sin(yaw)  cos(yaw) 0 | * |      0      1     0      | * | 0 cos(roll) -sin(roll) |
     \    0         0     1 /   \ -sin(pitch) 0 cos(pitch) /   \ 0 sin(roll)  cos(roll) /
 
```
    Specified by:
    
    getYawPitchRoll in interface Orientation3DReadOnly
    
    Parameters:
    
    yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored. Modified.
  - getEuler
```
default void getEuler(Tuple3DBasics eulerAnglesToPack)
```
    Computes and packs the orientation described by this orientation as the Euler angles.
    WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.
    
    Specified by:
    
    getEuler in interface Orientation3DReadOnly
    
    Parameters:
    
    eulerAnglesToPack - the tuple in which the Euler angles are stored. Modified.
  - getYaw
```
default double getYaw()
```
    Computes and returns the yaw angle from the yaw-pitch-roll representation of this orientation.
    WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.
    
    Specified by:
    
    getYaw in interface Orientation3DReadOnly
    
    Returns:
    
    the yaw angle around the z-axis.
  - getPitch
```
default double getPitch()
```
    Computes and returns the pitch angle from the yaw-pitch-roll representation of this orientation.
    WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.
    
    Specified by:
    
    getPitch in interface Orientation3DReadOnly
    
    Returns:
    
    the pitch angle around the y-axis.
  - getRoll
```
default double getRoll()
```
    Computes and returns the roll angle from the yaw-pitch-roll representation of this orientation.
    WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined.
    
    Specified by:
    
    getRoll in interface Orientation3DReadOnly
    
    Returns:
    
    the roll angle around the x-axis.
  - get
```
default void get(double[] axisAngleArrayToPack)
```
    Packs the components of this axis-angle in an array starting from its first index. The components are packed in the following order: x, y, z, and angle.
    
    Parameters:
    
    axisAngleArrayToPack - the array in which this axis-angle is stored. Modified.
  - get
```
default void get(int startIndex,
                 double[] axisAngleArrayToPack)
```
    Packs the components of this axis-angle in an array starting from startIndex. The components are packed in the following order: x, y, z, and angle.
    
    Parameters:
    
    startIndex - the index in the array where the first component is stored.
    
    axisAngleArrayToPack - the array in which this axis-angle is stored. Modified.
  - get
```
default void get(float[] axisAngleArrayToPack)
```
    Packs the components of this axis-angle in an array starting from its first index. The components are packed in the following order: x, y, z, and angle.
    
    Parameters:
    
    axisAngleArrayToPack - the array in which this axis-angle is stored. Modified.
  - get
```
default void get(int startIndex,
                 float[] axisAngleArrayToPack)
```
    Packs the components of this axis-angle in an array starting from startIndex. The components are packed in the following order: x, y, z, and angle.
    
    Parameters:
    
    startIndex - the index in the array where the first component is stored.
    
    axisAngleArrayToPack - the array in which this axis-angle is stored. Modified.
  - getElement
```
default double getElement(int index)
```
    Selects a component of this axis-angle based on index and returns its value.
    For index values of 0, 1, and 2, the corresponding components are x, y, and z, respectively, while 3 corresponds to the angle.
    
    Parameters:
    
    index - the index of the component to get.
    
    Returns:
    
    the value of the component.
    
    Throws:
    
    java.lang.IndexOutOfBoundsException - if index ∉ [0, 3].
  - getElement32
```
default float getElement32(int index)
```
    Selects a component of this axis-angle based on index and returns its value.
    For index values of 0, 1, and 2, the corresponding components are x, y, and z, respectively, while 3 corresponds to the angle.
    
    Parameters:
    
    index - the index of the component to get.
    
    Returns:
    
    the value of the component.
    
    Throws:
    
    java.lang.IndexOutOfBoundsException - if index ∉ [0, 3].
  - transform
```
default void transform(Tuple3DReadOnly tupleOriginal,
                       Tuple3DBasics tupleTransformed)
```
    Transforms the tuple tupleOriginal by this orientation and stores the result in tupleTransformed.
    If the given tuple is expressed in the local frame described by this orientation, then the tuple is transformed such that it is, after this method is called, expressed in the base frame in which this orientation is expressed.
    
    Specified by:
    
    transform in interface Orientation3DReadOnly
    
    Parameters:
    
    tupleOriginal - the original value of the tuple to be transformed. Not modified.
    
    tupleTransformed - the result of the original tuple after transformation. Modified.
  - addTransform
```
default void addTransform(Tuple3DReadOnly tupleOriginal,
                          Tuple3DBasics tupleTransformed)
```
    Transforms the tuple tupleOriginal by this orientation and adds the result to tupleTransformed.
    If the given tuple is expressed in the local frame described by this orientation, then the tuple is transformed such that it is, after this method is called, expressed in the base frame in which this orientation is expressed.
    
    Specified by:
    
    addTransform in interface Orientation3DReadOnly
    
    Parameters:
    
    tupleOriginal - the original value of the tuple to be transformed. Not modified.
    
    tupleTransformed - the result of the original tuple after transformation. Modified.
  - transform
```
default void transform(Tuple2DReadOnly tupleOriginal,
                       Tuple2DBasics tupleTransformed,
                       boolean checkIfOrientation2D)
```
    Transforms the tuple tupleOriginal by this orientation and stores the result in tupleTransformed.
    If the given tuple is expressed in the local frame described by this orientation, then the tuple is transformed such that it is, after this method is called, expressed in the base frame in which this orientation is expressed.
    
    Specified by:
    
    transform in interface Orientation3DReadOnly
    
    Parameters:
    
    tupleOriginal - the original value of the tuple to be transformed. Not modified.
    
    tupleTransformed - the result of the original tuple after transformation. Modified.
    
    checkIfOrientation2D - whether this method should assert that this orientation represents a transformation in the XY plane.
  - transform
```
default void transform(Matrix3DReadOnly matrixOriginal,
                       Matrix3D matrixTransformed)
```
    Transforms the matrix matrixOriginal by this orientation and stores the result in matrixTransformed.
    If the given matrix is expressed in the local frame described by this orientation, then the matrix is transformed such that it is, after this method is called, expressed in the base frame in which this orientation is expressed.
    
    Specified by:
    
    transform in interface Orientation3DReadOnly
    
    Parameters:
    
    matrixOriginal - the original value of the matrix to be transformed. Not modified.
    
    matrixTransformed - the result of the original matrix after transformation. Modified.
  - transform
```
default void transform(Vector4DReadOnly vectorOriginal,
                       Vector4DBasics vectorTransformed)
```
    Transforms the vector part, i.e. the x, y, and z components, of the given vectorOriginal and stores the result in vectorTransformed.
    The scalar component s remains unaffected by this operation and is simply copied over.
    
    If the given vector part is expressed in the local frame described by this orientation, then the vector part is transformed such that it is, after this method is called, expressed in the base frame in which this orientation is expressed.
    
    Specified by:
    
    transform in interface Orientation3DReadOnly
    
    Parameters:
    
    vectorOriginal - the original value of the vector to be transformed. Not modified.
    
    vectorTransformed - the result of the original vector after transformation. Modified.
  - inverseTransform
```
default void inverseTransform(Tuple3DReadOnly tupleOriginal,
                              Tuple3DBasics tupleTransformed)
```
    Performs the inverse of the transform to the tuple tupleOriginal by this orientation and stores the result in tupleTransformed.
    If the given tuple is expressed in the base frame in which this orientation is expressed, then the tuple is transformed such that it is, after this method is called, expressed in the local frame described by this orientation.
    
    Specified by:
    
    inverseTransform in interface Orientation3DReadOnly
    
    Parameters:
    
    tupleOriginal - the original value of the tuple to be transformed. Not modified.
    
    tupleTransformed - the result of the original tuple after transformation. Modified.
  - inverseTransform
```
default void inverseTransform(Tuple2DReadOnly tupleOriginal,
                              Tuple2DBasics tupleTransformed,
                              boolean checkIfOrientation2D)
```
    Performs the inverse of the transform to the tuple tupleOriginal by this orientation and stores the result in tupleTransformed.
    If the given tuple is expressed in the base frame in which this orientation is expressed, then the tuple is transformed such that it is, after this method is called, expressed in the local frame described by this orientation.
    
    Specified by:
    
    inverseTransform in interface Orientation3DReadOnly
    
    Parameters:
    
    tupleOriginal - the original value of the tuple to be transformed. Not modified.
    
    tupleTransformed - the result of the original tuple after transformation. Modified.
    
    checkIfOrientation2D - whether this method should assert that this orientation represents a transformation in the XY plane.
  - inverseTransform
```
default void inverseTransform(Vector4DReadOnly vectorOriginal,
                              Vector4DBasics vectorTransformed)
```
    Performs the inverse of the transform to the vector part, i.e. the x, y, and z components, of the given vectorOriginal and stores the result in vectorTransformed.
    The scalar component s remains unaffected by this operation and is simply copied over.
    
    If the given vector part is expressed in the local frame described by this orientation, then the vector part is transformed such that it is, after this method is called, expressed in the base frame in which this orientation is expressed.
    
    Specified by:
    
    inverseTransform in interface Orientation3DReadOnly
    
    Parameters:
    
    vectorOriginal - the original value of the vector to be transformed. Not modified.
    
    vectorTransformed - the result of the original vector after transformation. Modified.
  - inverseTransform
```
default void inverseTransform(Matrix3DReadOnly matrixOriginal,
                              Matrix3D matrixTransformed)
```
    Performs the inverse of the transform to the matrix matrixOriginal by this orientation and stores the result in matrixTransformed.
    If the given matrix is expressed in the base frame in which this orientation is expressed, then the matrix is transformed such that it is, after this method is called, expressed in the local frame described by this orientation.
    
    Specified by:
    
    inverseTransform in interface Orientation3DReadOnly
    
    Parameters:
    
    matrixOriginal - the original value of the matrix to be transformed. Not modified.
    
    matrixTransformed - the result of the original matrix after transformation. Modified.
  - equals
```
default boolean equals(AxisAngleReadOnly other)
```
    Tests on a per component basis, if this axis-angle is exactly equal to other. A failing test does not necessarily mean that the two axis-angles represent two different orientations.
    
    Parameters:
    
    other - the other axis-angle to compare against this. Not modified.
    
    Returns:
    
    true if the two axis-angles are exactly equal component-wise, false otherwise.
  - epsilonEquals
```
default boolean epsilonEquals(AxisAngleReadOnly 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.
    
    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
```
default boolean geometricallyEquals(AxisAngleReadOnly 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.
    
    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.

Interface AxisAngleReadOnly

Field Summary

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

Method Summary

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

Method Detail

getAngle

getAngle32

getX

getX32

getY

getY32

getZ

getZ32

containsNaN

axisNorm

isAxisUnitary

isZOnly

checkIfIsZOnly

isOrientation2D

distance

get

get

get

getRotationVector

getYawPitchRoll

getEuler

getYaw

getPitch

getRoll

get

get

get

get

getElement

getElement32

transform

addTransform

transform

transform

transform

inverseTransform

inverseTransform

inverseTransform

inverseTransform

equals

epsilonEquals

geometricallyEquals