Uses of Interface
us.ihmc.euclid.matrix.interfaces.RotationMatrixReadOnly

Packages that use RotationMatrixReadOnly

Package	Description
us.ihmc.euclid.matrix
us.ihmc.euclid.matrix.interfaces
us.ihmc.euclid.orientation.interfaces
us.ihmc.euclid.rotationConversion
us.ihmc.euclid.tools
us.ihmc.euclid.transform
us.ihmc.euclid.transform.interfaces

Uses of RotationMatrixReadOnly in us.ihmc.euclid.matrix

Classes in us.ihmc.euclid.matrix that implement RotationMatrixReadOnly

Modifier and Type	Class	Description
class	RotationMatrix	A RotationMatrix is a 3-by-3 matrix used to represent 3d orientations.

Methods in us.ihmc.euclid.matrix with parameters of type RotationMatrixReadOnly

Modifier and Type	Method	Description
void	RotationMatrix.interpolate(RotationMatrixReadOnly rf, double alpha)	Performs a linear interpolation in SO(3) from this to rf given the percentage alpha.
void	RotationMatrix.interpolate(RotationMatrixReadOnly r0, RotationMatrixReadOnly rf, double alpha)	Performs a linear interpolation in SO(3) from r0 to rf given the percentage alpha.
void	RotationMatrix.multiply(RotationMatrixReadOnly other)	Performs a matrix multiplication on this.
void	Matrix3D.multiplyInvertOther(RotationMatrixReadOnly other)	Performs a matrix multiplication on this.
void	RotationMatrix.multiplyTransposeBoth(RotationMatrixReadOnly other)	Performs a matrix multiplication on this.
void	RotationMatrix.multiplyTransposeOther(RotationMatrixReadOnly other)	Performs a matrix multiplication on this.
void	RotationMatrix.multiplyTransposeThis(RotationMatrixReadOnly other)	Performs a matrix multiplication on this.
void	RotationMatrix.preMultiply(RotationMatrixReadOnly other)	Performs a matrix multiplication on this.
void	Matrix3D.preMultiplyInvertOther(RotationMatrixReadOnly other)	Performs a matrix multiplication on this.
void	RotationMatrix.preMultiplyTransposeBoth(RotationMatrixReadOnly other)	Performs a matrix multiplication on this.
void	RotationMatrix.preMultiplyTransposeOther(RotationMatrixReadOnly other)	Performs a matrix multiplication on this.
void	RotationMatrix.preMultiplyTransposeThis(RotationMatrixReadOnly other)	Performs a matrix multiplication on this.
void	RotationMatrix.set(RotationMatrixReadOnly other)	Sets this rotation matrix to equal the given one other.
void	RotationScaleMatrix.set(RotationMatrixReadOnly rotationMatrix)	Sets the rotation part to the given rotation matrix and resets the scales.
void	RotationScaleMatrix.set(RotationMatrixReadOnly rotationMatrix, double scale)	Sets the rotation part to the rotationMatrix and all three scale factors to scale.
void	RotationScaleMatrix.set(RotationMatrixReadOnly rotationMatrix, double scaleX, double scaleY, double scaleZ)	Sets the rotation part to the rotationMatrix and all three scale factors to scaleX, scaleY, and scaleZ.
void	RotationScaleMatrix.set(RotationMatrixReadOnly rotationMatrix, Tuple3DReadOnly scales)	Sets the rotation part to the rotationMatrix and all three scale factors to scales.
void	RotationMatrix.setAndInvert(RotationMatrixReadOnly other)	Sets this rotation matrix to the invert of the given one other.
void	RotationMatrix.setAndNormalize(RotationMatrixReadOnly other)	Sets this rotation matrix to equal the given other and then normalizes this.
void	RotationMatrix.setAndTranspose(RotationMatrixReadOnly other)	Sets this rotation matrix to the transpose of the given other.
void	RotationScaleMatrix.setRotation(RotationMatrixReadOnly rotationMatrix)	Sets the rotation part to rotationMatrix.

Constructors in us.ihmc.euclid.matrix with parameters of type RotationMatrixReadOnly

Constructor	Description
RotationMatrix(RotationMatrixReadOnly other)	Creates a new rotation matrix that is the same as other.
RotationScaleMatrix(RotationMatrixReadOnly rotationMatrix, double scale)	Creates a new rotation-scale matrix with the rotation part initialized to the rotationMatrix and all three scale factors initialized to scale.
RotationScaleMatrix(RotationMatrixReadOnly rotationMatrix, double scaleX, double scaleY, double scaleZ)	Creates a new rotation-scale matrix with the rotation part initialized to the rotationMatrix and all three scale factors initialized to scaleX, scaleY, and scaleZ.
RotationScaleMatrix(RotationMatrixReadOnly rotationMatrix, Tuple3DReadOnly scales)	Creates a new rotation-scale matrix with the rotation part initialized to the rotationMatrix and all three scale factors initialized to scales.

Uses of RotationMatrixReadOnly in us.ihmc.euclid.matrix.interfaces

Methods in us.ihmc.euclid.matrix.interfaces that return RotationMatrixReadOnly

Modifier and Type	Method	Description
RotationMatrixReadOnly	RotationScaleMatrixReadOnly.getRotationMatrix()	Returns the read-only reference to the rotation matrix used to compose this rotation-scale matrix.

Methods in us.ihmc.euclid.matrix.interfaces with parameters of type RotationMatrixReadOnly

Modifier and Type	Method	Description
default double	RotationMatrixReadOnly.distance(RotationMatrixReadOnly other)	Computes and returns the distance between this rotation matrix and the other.
default boolean	RotationMatrixReadOnly.geometricallyEquals(RotationMatrixReadOnly other, double epsilon)	Tests if this and other represent the same orientation to an epsilon.
default void	RotationScaleMatrixReadOnly.inverseTransform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Transforms the given rotation matrix matrixOriginal by the rotation part of this rotation-scale matrix and stores the result in matrixTransformed.
default void	RotationScaleMatrixReadOnly.transform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Transforms the given rotation matrix matrixOriginal by the rotation part of this rotation-scale matrix and stores the result in matrixTransformed.

Uses of RotationMatrixReadOnly in us.ihmc.euclid.orientation.interfaces

Methods in us.ihmc.euclid.orientation.interfaces with parameters of type RotationMatrixReadOnly

Modifier and Type	Method	Description
default void	Orientation3DReadOnly.inverseTransform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Performs the inverse of the transform to the given matrixOriginal and stores the result in matrixTransformed.
default void	Orientation3DReadOnly.transform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Transforms the given matrixOriginal and stores the result in matrixTransformed.

Uses of RotationMatrixReadOnly in us.ihmc.euclid.rotationConversion

Methods in us.ihmc.euclid.rotationConversion with parameters of type RotationMatrixReadOnly

Modifier and Type	Method	Description
static double	YawPitchRollConversion.computePitch(RotationMatrixReadOnly rotationMatrix)	Computes the pitch angle from a rotation matrix.
static double	YawPitchRollConversion.computeRoll(RotationMatrixReadOnly rotationMatrix)	Computes the roll from a rotation matrix.
static double	YawPitchRollConversion.computeYaw(RotationMatrixReadOnly rotationMatrix)	Computes the yaw from a rotation matrix.
static void	AxisAngleConversion.convertMatrixToAxisAngle(RotationMatrixReadOnly rotationMatrix, AxisAngleBasics axisAngleToPack)	Converts the given rotation matrix into an axis-angle.
static void	QuaternionConversion.convertMatrixToQuaternion(RotationMatrixReadOnly rotationMatrix, QuaternionBasics quaternionToPack)	Converts the given rotation matrix into a quaternion.
static void	RotationVectorConversion.convertMatrixToRotationVector(RotationMatrixReadOnly rotationMatrix, Vector3DBasics rotationVectorToPack)	Converts the given rotation matrix into a rotation vector.
static void	YawPitchRollConversion.convertMatrixToYawPitchRoll(RotationMatrixReadOnly rotationMatrix, double[] yawPitchRollToPack)	Converts the rotation matrix into yaw-pitch-roll.
static void	YawPitchRollConversion.convertMatrixToYawPitchRoll(RotationMatrixReadOnly rotationMatrix, Tuple3DBasics eulerAnglesToPack)	Converts the given rotation matrix into yaw-pitch-roll.

Uses of RotationMatrixReadOnly in us.ihmc.euclid.tools

Methods in us.ihmc.euclid.tools with parameters of type RotationMatrixReadOnly

Modifier and Type	Method	Description
static void	RotationMatrixTools.appendPitchRotation(RotationMatrixReadOnly matrixOriginal, double pitch, RotationMatrix matrixToPack)	Append a rotation about the y-axis to matrixOriginal and stores the result in matrixToPack.
static void	RotationMatrixTools.appendRollRotation(RotationMatrixReadOnly matrixOriginal, double roll, RotationMatrix matrixToPack)	Append a rotation about the x-axis to matrixOriginal and stores the result in matrixToPack.
static void	RotationMatrixTools.appendYawRotation(RotationMatrixReadOnly matrixOriginal, double yaw, RotationMatrix matrixToPack)	Append a rotation about the z-axis to matrixOriginal and stores the result in matrixToPack.
static void	EuclidCoreTestTools.assertRotationMatrixGeometricallyEquals(java.lang.String messagePrefix, RotationMatrixReadOnly expected, RotationMatrixReadOnly actual, double epsilon)	Asserts on a per component basis that the two rotation matrices represent the same geometry to an epsilon.
static void	EuclidCoreTestTools.assertRotationMatrixGeometricallyEquals(java.lang.String messagePrefix, RotationMatrixReadOnly expected, RotationMatrixReadOnly actual, double epsilon, java.lang.String format)	Asserts on a per component basis that the two rotation matrices represent the same geometry to an epsilon.
static void	EuclidCoreTestTools.assertRotationMatrixGeometricallyEquals(RotationMatrixReadOnly expected, RotationMatrixReadOnly actual, double epsilon)	Asserts on a per component basis that the two rotation matrices represent the same geometry to an epsilon.
static double	RotationMatrixTools.distance(RotationMatrixReadOnly m1, RotationMatrixReadOnly m2)	Computes and returns the distance from the rotation matrix m1 to m2.
static void	RotationMatrixTools.interpolate(RotationMatrixReadOnly r0, RotationMatrixReadOnly rf, double alpha, RotationMatrix matrixToPack)	Performs a linear interpolation in SO(3) from r0 to rf given the percentage alpha.
static void	AxisAngleTools.inverseTransform(AxisAngleReadOnly axisAngle, RotationMatrixReadOnly rotationMatrixOriginal, RotationMatrix rotationMatrixTransformed)	Performs the inverse of the transform of the rotation matrix rotationMatrixOriginal using axisAngle and stores the result in rotationMatrixTransformed.
static void	QuaternionTools.inverseTransform(QuaternionReadOnly quaternion, RotationMatrixReadOnly rotationMatrixOriginal, RotationMatrix rotationMatrixTransformed)	Performs the inverse of the transform of the rotation matrix rotationMatrixOriginal using quaternion and stores the result in rotationMatrixTransformed.
static void	RotationMatrixTools.multiply(RotationMatrixReadOnly orientation1, boolean inverse1, Orientation3DReadOnly orientation2, boolean inverse2, RotationMatrix matrixToPack)	Performs the multiplication of orientation1 and orientation2 and stores the result in matrixToPack.
static void	RotationMatrixTools.multiply(RotationMatrixReadOnly m1, RotationMatrixReadOnly m2, RotationMatrix matrixToPack)	Performs the multiplication: m1 * m2 and stores the result in matrixToPack.
static void	RotationMatrixTools.multiply(Orientation3DReadOnly orientation1, boolean inverse1, RotationMatrixReadOnly orientation2, boolean inverse2, RotationMatrix matrixToPack)	Performs the multiplication of orientation1 and orientation2 and stores the result in matrixToPack.
static void	Matrix3DTools.multiplyInvertLeft(RotationMatrixReadOnly m1, Matrix3DReadOnly m2, Matrix3D matrixToPack)	Performs the multiplication: m1-1 * m2 and stores the result in matrixToPack.
static void	Matrix3DTools.multiplyInvertRight(Matrix3DReadOnly m1, RotationMatrixReadOnly m2, Matrix3D matrixToPack)	Performs the multiplication: m1 * m2-1 and stores the result in matrixToPack.
static void	RotationMatrixTools.multiplyTransposeBoth(RotationMatrixReadOnly m1, RotationMatrixReadOnly m2, RotationMatrix matrixToPack)	Performs the multiplication: m1T * m2T and stores the result in matrixToPack.
static void	RotationMatrixTools.multiplyTransposeLeft(RotationMatrixReadOnly m1, RotationMatrixReadOnly m2, RotationMatrix matrixToPack)	Performs the multiplication: m1T * m2 and stores the result in matrixToPack.
static void	RotationMatrixTools.multiplyTransposeRight(RotationMatrixReadOnly m1, RotationMatrixReadOnly m2, RotationMatrix matrixToPack)	Performs the multiplication: m1 * m2T and stores the result in matrixToPack.
static void	RotationMatrixTools.prependPitchRotation(double pitch, RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixToPack)	Prepend a rotation about the y-axis to matrixOriginal and stores the result in matrixToPack.
static void	RotationMatrixTools.prependRollRotation(double roll, RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixToPack)	Prepend a rotation about the x-axis to matrixOriginal and stores the result in matrixToPack.
static void	RotationMatrixTools.prependYawRotation(double yaw, RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixToPack)	Prepend a rotation about the z-axis to matrixOriginal and stores the result in matrixToPack.
static void	AxisAngleTools.transform(AxisAngleReadOnly axisAngle, RotationMatrixReadOnly rotationMatrixOriginal, RotationMatrix rotationMatrixTransformed)	Transforms the rotation matrix rotationMatrixOriginal using axisAngle and stores the result in rotationMatrixTransformed.
static void	QuaternionTools.transform(QuaternionReadOnly quaternion, RotationMatrixReadOnly rotationMatrixOriginal, RotationMatrix rotationMatrixTransformed)	Transforms the rotation matrix rotationMatrixOriginal using quaternion and stores the result in rotationMatrixTransformed.

Uses of RotationMatrixReadOnly in us.ihmc.euclid.transform

Methods in us.ihmc.euclid.transform that return RotationMatrixReadOnly

Modifier and Type	Method	Description
RotationMatrixReadOnly	AffineTransform.getRotationMatrix()	Gets the read-only reference to the rotation part of this transform.
RotationMatrixReadOnly	RigidBodyTransform.getRotationMatrix()	Gets the read-only reference to the rotation part of this transform.

Methods in us.ihmc.euclid.transform with parameters of type RotationMatrixReadOnly

Modifier and Type	Method	Description
void	AffineTransform.inverseTransform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Performs the inverse of the transform on the given matrix matrixOriginal and stores the result in matrixTransformed.
void	QuaternionBasedTransform.inverseTransform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Performs the inverse of the transform on the given matrix matrixOriginal and stores the result in matrixTransformed.
void	RigidBodyTransform.inverseTransform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Performs the inverse of the transform on the given matrix matrixOriginal and stores the result in matrixTransformed.
void	AffineTransform.set(RotationMatrixReadOnly rotationMatrix, double scaleX, double scaleY, double scaleZ, Tuple3DReadOnly translation)	Sets the rotation, scale, and translation parts of this transform separately.
void	AffineTransform.set(RotationMatrixReadOnly rotationMatrix, double scale, Tuple3DReadOnly translation)	Sets the rotation, scale, and translation parts of this transform separately.
void	AffineTransform.set(RotationMatrixReadOnly rotationMatrix, Tuple3DReadOnly scales, Tuple3DReadOnly translation)	Sets the rotation, scale, and translation parts of this transform separately.
void	QuaternionBasedTransform.set(RotationMatrixReadOnly rotationMatrix, Tuple3DReadOnly translation)	Sets this quaternion-based transform to the given rotation matrix and translation.
void	RigidBodyTransform.set(RotationMatrixReadOnly rotationMatrix, Tuple3DReadOnly translation)	Sets the rotation and translation parts of this transform separately.
void	AffineTransform.setRotation(RotationMatrixReadOnly rotationMatrix)	Sets the rotation part of this transform to the given matrix.
void	QuaternionBasedTransform.setRotation(RotationMatrixReadOnly rotationMatrix)	Sets the rotation part of this transform to the given rotation matrix.
void	RigidBodyTransform.setRotation(RotationMatrixReadOnly rotationMatrix)	Sets the rotation part of this transform to the given matrix.
void	RigidBodyTransform.setRotationAndZeroTranslation(RotationMatrixReadOnly rotationMatrix)	Sets the rotation part of this transform to the given orientation and sets the translation part to zero.
void	AffineTransform.transform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Transforms the given matrixOriginal by this transform and stores the result in matrixTransformed.
void	QuaternionBasedTransform.transform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Transforms the given matrixOriginal by this transform and stores the result in matrixTransformed.
void	RigidBodyTransform.transform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Transforms the given matrixOriginal by this transform and stores the result in matrixTransformed.

Constructors in us.ihmc.euclid.transform with parameters of type RotationMatrixReadOnly

Constructor	Description
QuaternionBasedTransform(RotationMatrixReadOnly rotationMatrix, Tuple3DReadOnly translation)	Creates a new quaternion-based transform and initializes it to the given rotation matrix and translation.

Uses of RotationMatrixReadOnly in us.ihmc.euclid.transform.interfaces

Methods in us.ihmc.euclid.transform.interfaces with parameters of type RotationMatrixReadOnly

Modifier and Type	Method	Description
void	Transform.inverseTransform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Performs the inverse of the transform on the given matrix matrixOriginal and stores the result in matrixTransformed.
void	Transform.transform(RotationMatrixReadOnly matrixOriginal, RotationMatrix matrixTransformed)	Transforms the given matrixOriginal by this transform and stores the result in matrixTransformed.