Package us.ihmc.euclid.rotationConversion

Class RotationVectorConversion

java.lang.Object

us.ihmc.euclid.rotationConversion.RotationVectorConversion

public abstract class RotationVectorConversion
extends java.lang.Object

This class gathers all the methods necessary to converts any type of rotation into a 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.

To convert an orientation into other data structure types see:

• for axis-angle: AxisAngleConversion,
• for quaternion: QuaternionConversion,
• for rotation matrix: RotationMatrixConversion,
• for yaw-pitch-roll: YawPitchRollConversion.

Author:

Sylvain Bertrand

Field Summary

Fields

Modifier and Type	Field	Description
static double	EPS	Tolerance used to identify various edge cases, such as to identify when an axis-angle represents a zero orientation.

Constructor Summary

Constructors

Constructor	Description
RotationVectorConversion()

Method Summary

Modifier and Type	Method	Description
static void	convertAxisAngleToRotationVector(AxisAngleReadOnly axisAngle, Vector3DBasics rotationVectorToPack)	Converts the given axis-angle into a rotation vector.
static void	convertAxisAngleToRotationVectorImpl(double ux, double uy, double uz, double angle, Vector3DBasics rotationVectorToPack)	Converts the given axis-angle into a rotation vector.
static void	convertMatrixToRotationVector(RotationMatrixReadOnly rotationMatrix, Vector3DBasics rotationVectorToPack)	Converts the given rotation matrix into a rotation vector.
static void	convertMatrixToRotationVector(RotationScaleMatrixReadOnly rotationScaleMatrix, Vector3DBasics rotationVectorToPack)	Converts the rotation part of the given rotation-scale matrix into a rotation vector.
(package private) static void	convertMatrixToRotationVectorImpl(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22, Vector3DBasics rotationVectorToPack)	Converts the given rotation matrix into a rotation vector.
static void	convertQuaternionToRotationVector(QuaternionReadOnly quaternion, Vector3DBasics rotationVectorToPack)	Converts the given quaternion into a rotation vector.
static void	convertYawPitchRollToRotationVector(double[] yawPitchRoll, Vector3DBasics rotationVectorToPack)	Converts the given yaw-pitch-roll angles into a rotation vector.
static void	convertYawPitchRollToRotationVector(double yaw, double pitch, double roll, Vector3DBasics rotationVectorToPack)	Converts the given yaw-pitch-roll angles into a rotation vector.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

EPS

public static final double EPS

Tolerance used to identify various edge cases, such as to identify when an axis-angle represents a zero orientation.

See Also:

Constant Field Values

Constructor Detail

RotationVectorConversion

public RotationVectorConversion()

Method Detail

convertAxisAngleToRotationVector

public static void convertAxisAngleToRotationVector(AxisAngleReadOnly axisAngle,
                                                    Vector3DBasics rotationVectorToPack)

Converts the given axis-angle into a rotation vector.

After calling this method, the axis-angle and the rotation vector represent the same orientation.

Edge case:

• if either component of the axis-angle is Double.NaN, the rotation vector is set to Double.NaN.
• if the length of the axis is below EPS, the rotation vector is set to zero.

Parameters:

axisAngle - the axis-angle to use for the conversion. Not modified.

rotationVectorToPack - the vector in which the result is stored. Modified.

convertAxisAngleToRotationVectorImpl

public static void convertAxisAngleToRotationVectorImpl(double ux,
                                                        double uy,
                                                        double uz,
                                                        double angle,
                                                        Vector3DBasics rotationVectorToPack)

Converts the given axis-angle into a rotation vector.

After calling this method, the axis-angle and the rotation vector represent the same orientation.

Edge case:

• if either component of the axis-angle is Double.NaN, the rotation vector is set to Double.NaN.
• if the length of the axis is below EPS, the rotation vector is set to zero.

Parameters:

ux - the axis x-component of the axis-angle to use for the conversion.

uy - the axis y-component of the axis-angle to use for the conversion.

uz - the axis z-component of the axis-angle to use for the conversion.

angle - the angle of the axis-angle to use for the conversion.

rotationVectorToPack - the vector in which the result is stored. Modified.

convertQuaternionToRotationVector

public static void convertQuaternionToRotationVector(QuaternionReadOnly quaternion,
                                                     Vector3DBasics rotationVectorToPack)

Converts the given quaternion into a rotation vector.

After calling this method, the quaternion and the rotation vector represent the same orientation.

Edge case:

• if either component of the quaternion is Double.NaN, the rotation vector is set to Double.NaN.
• if the norm of the quaternion is below EPS, the rotation vector is set to zero.

Parameters:

quaternion - the quaternion to use for the conversion. Not modified.

rotationVectorToPack - the vector in which the result is stored. Modified.

convertMatrixToRotationVector

public static void convertMatrixToRotationVector(RotationScaleMatrixReadOnly rotationScaleMatrix,
                                                 Vector3DBasics rotationVectorToPack)

Converts the rotation part of the given rotation-scale matrix into a rotation vector.

After calling this method, the rotation matrix and the rotation vector represent the same orientation.

Edge case:

• if the rotation matrix contains at least one Double.NaN, the rotation vector is set to Double.NaN.

Parameters:

rotationScaleMatrix - a 3-by-3 matrix representing an orientation and a scale. Only the orientation part is used during the conversion. Not modified.

rotationVectorToPack - the vector in which the result is stored. Modified.

convertMatrixToRotationVector

public static void convertMatrixToRotationVector(RotationMatrixReadOnly rotationMatrix,
                                                 Vector3DBasics rotationVectorToPack)

Converts the given rotation matrix into a rotation vector.

After calling this method, the rotation matrix and the rotation vector represent the same orientation.

Edge case:

• if the rotation matrix contains at least one Double.NaN, the rotation vector is set to Double.NaN.

Parameters:

rotationMatrix - a 3-by-3 matrix representing an orientation. Not modified.

rotationVectorToPack - the vector in which the result is stored. Modified.

convertMatrixToRotationVectorImpl

static void convertMatrixToRotationVectorImpl(double m00,
                                              double m01,
                                              double m02,
                                              double m10,
                                              double m11,
                                              double m12,
                                              double m20,
                                              double m21,
                                              double m22,
                                              Vector3DBasics rotationVectorToPack)

Converts the given rotation matrix into a rotation vector.

This method is for internal use. Use convertMatrixToRotationVector(RotationMatrixReadOnly, Vector3DBasics) or convertMatrixToRotationVector(RotationScaleMatrixReadOnly, Vector3DBasics) instead.

After calling this method, the rotation matrix and the rotation vector represent the same orientation.

Edge case:

• if the rotation matrix contains at least one Double.NaN, the rotation vector is set to Double.NaN.

Parameters:

m00 - the new 1st row 1st column coefficient for the matrix to use for the conversion.

m01 - the new 1st row 2nd column coefficient for the matrix to use for the conversion.

m02 - the new 1st row 3rd column coefficient for the matrix to use for the conversion.

m10 - the new 2nd row 1st column coefficient for the matrix to use for the conversion.

m11 - the new 2nd row 2nd column coefficient for the matrix to use for the conversion.

m12 - the new 2nd row 3rd column coefficient for the matrix to use for the conversion.

m20 - the new 3rd row 1st column coefficient for the matrix to use for the conversion.

m21 - the new 3rd row 2nd column coefficient for the matrix to use for the conversion.

m22 - the new 3rd row 3rd column coefficient for the matrix to use for the conversion.

rotationVectorToPack - the vector in which the result is stored. Modified.

convertYawPitchRollToRotationVector

public static void convertYawPitchRollToRotationVector(double[] yawPitchRoll,
                                                       Vector3DBasics rotationVectorToPack)

Converts the given yaw-pitch-roll angles into a rotation vector.

After calling this method, the yaw-pitch-roll and the rotation vector represent the same orientation.

Edge case:

• if either of the yaw, pitch, or roll angle is Double.NaN, the rotation vector is set to Double.NaN.

Note: the yaw-pitch-roll representation, also called Euler angles, corresponds to the representation of an orientation by decomposing it by three successive rotations around the three axes: Z (yaw), Y (pitch), and X (roll). The equivalent rotation matrix of such representation is:
R = R_Z(yaw) * R_Y(pitch) * R_X(roll)

Parameters:

yawPitchRoll - the yaw-pitch-roll angles to use in the conversion. Not modified.

rotationVectorToPack - the vector in which the result is stored. Modified.

convertYawPitchRollToRotationVector

public static void convertYawPitchRollToRotationVector(double yaw,
                                                       double pitch,
                                                       double roll,
                                                       Vector3DBasics rotationVectorToPack)

Converts the given yaw-pitch-roll angles into a rotation vector.

After calling this method, the yaw-pitch-roll and the rotation vector represent the same orientation.

Edge case:

• if either of the yaw, pitch, or roll angle is Double.NaN, the rotation vector is set to Double.NaN.

Note: the yaw-pitch-roll representation, also called Euler angles, corresponds to the representation of an orientation by decomposing it by three successive rotations around the three axes: Z (yaw), Y (pitch), and X (roll). The equivalent rotation matrix of such representation is:
R = R_Z(yaw) * R_Y(pitch) * R_X(roll)

Parameters:

yaw - the yaw angle to use in the conversion.

pitch - the pitch angle to use in the conversion.

roll - the roll angle to use in the conversion.

rotationVectorToPack - the vector in which the result is stored. Modified.