Package us.ihmc.euclid.rotationConversion

Class YawPitchRollConversion

java.lang.Object

us.ihmc.euclid.rotationConversion.YawPitchRollConversion

public abstract class YawPitchRollConversion
extends java.lang.Object

This class gathers all the methods necessary to converts any type of rotation into the yaw-pitch-roll angles.

WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined. Prefer using other representations of 3D orientation such as axis-angle, quaternion, or rotation matrix.

To convert an orientation into other data structure types see:

• for yaw-pitch-roll: AxisAngleConversion,
• for quaternion: QuaternionConversion,
• for rotation matrix: RotationMatrixConversion,
• for rotation vector: RotationVectorConversion.

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 = RZ(yaw) * RY(pitch) * RX(roll)

           / cos(yaw) -sin(yaw) 0 \
 RZ(yaw) = | sin(yaw)  cos(yaw) 0 |
           \    0         0     1 /

             /  cos(pitch) 0 sin(pitch) \
 RY(pitch) = |      0      1     0      |
             \ -sin(pitch) 0 cos(pitch) /

             / 1     0          0     \
 RX(roll)  = | 0 cos(roll) -sin(roll) |
             \ 0 sin(roll)  cos(roll) /
 

Author:

Sylvain Bertrand

Field Summary

Fields

Modifier and Type	Field	Description
static double	MAX_SAFE_PITCH_ANGLE	Pitch angle that defines the upper bound of the safe region in which the resulting pitch angle of a conversion is accurate.
static double	MIN_SAFE_PITCH_ANGLE	Pitch angle that defines the lower bound of the safe region in which the resulting pitch angle of a conversion is accurate.
static double	SAFE_THRESHOLD_PITCH	Represents the safety margin that

Constructor Summary

Constructors

Constructor	Description
YawPitchRollConversion()

Method Summary

Modifier and Type	Method	Description
static double	computePitch(AxisAngleReadOnly axisAngle)	Computes the pitch from an axis-angle.
static double	computePitch(RotationMatrixReadOnly rotationMatrix)	Computes the pitch angle from a rotation matrix.
static double	computePitch(RotationScaleMatrixReadOnly rotationScaleMatrix)	Computes the pitch angle from the rotation part of a rotation-scale matrix.
static double	computePitch(Vector3DReadOnly rotationVector)	Computes the pitch from a rotation vector.
static double	computePitch(QuaternionReadOnly quaternion)	Computes the pitch from a quaternion.
(package private) static double	computePitchFromAxisAngleImpl(double ux, double uy, double uz, double angle)	Computes the pitch from the given axis-angle.
(package private) static double	computePitchFromQuaternionImpl(double qx, double qy, double qz, double qs)	Computes the pitch from a quaternion.
(package private) static double	computePitchImpl(double m20)	Computes the pitch from a rotation matrix.
static double	computeRoll(AxisAngleReadOnly axisAngle)	Computes the roll from an axis-angle.
static double	computeRoll(RotationMatrixReadOnly rotationMatrix)	Computes the roll from a rotation matrix.
static double	computeRoll(RotationScaleMatrixReadOnly rotationScaleMatrix)	Computes the roll from the rotation part of a rotation-scale matrix.
static double	computeRoll(Vector3DReadOnly rotationVector)	Computes the roll from a rotation vector.
static double	computeRoll(QuaternionReadOnly quaternion)	Computes the roll from a quaternion.
(package private) static double	computeRollFromAxisAngleImpl(double ux, double uy, double uz, double angle)	Computes the roll from the given axis-angle.
(package private) static double	computeRollFromQuaternionImpl(double qx, double qy, double qz, double qs)	Computes the roll from a quaternion.
(package private) static double	computeRollImpl(double m21, double m22)	Computes the roll from a rotation matrix.
static double	computeYaw(AxisAngleReadOnly axisAngle)	Computes the yaw from an axis-angle.
static double	computeYaw(RotationMatrixReadOnly rotationMatrix)	Computes the yaw from a rotation matrix.
static double	computeYaw(RotationScaleMatrixReadOnly rotationScaleMatrix)	Computes the yaw from the rotation part of a rotation-scale matrix.
static double	computeYaw(Vector3DReadOnly rotationVector)	Computes the yaw from a rotation vector.
static double	computeYaw(QuaternionReadOnly quaternion)	Computes the yaw from a quaternion.
(package private) static double	computeYawFromAxisAngleImpl(double ux, double uy, double uz, double angle)	Computes the yaw from the given axis-angle.
(package private) static double	computeYawFromQuaternionImpl(double qx, double qy, double qz, double qs)	Computes the yaw from a quaternion.
(package private) static double	computeYawImpl(double m00, double m10)	Computes the yaw from a rotation matrix.
static void	convertAxisAngleToYawPitchRoll(AxisAngleReadOnly axisAngle, double[] yawPitchRollToPack)	Converts the axis-angle into yaw-pitch-roll.
static void	convertAxisAngleToYawPitchRoll(AxisAngleReadOnly axisAngle, Tuple3DBasics eulerAnglesToPack)	Converts the axis-angle into yaw-pitch-roll.
(package private) static void	convertAxisAngleToYawPitchRollImpl(double ux, double uy, double uz, double angle, double[] yawPitchRollToPack)	Converts the axis-angle into yaw-pitch-roll.
(package private) static void	convertAxisAngleToYawPitchRollImpl(double ux, double uy, double uz, double angle, Tuple3DBasics eulerAnglesToPack)	Converts the axis-angle into yaw-pitch-roll.
static void	convertMatrixToYawPitchRoll(RotationMatrixReadOnly rotationMatrix, double[] yawPitchRollToPack)	Converts the rotation matrix into yaw-pitch-roll.
static void	convertMatrixToYawPitchRoll(RotationMatrixReadOnly rotationMatrix, Tuple3DBasics eulerAnglesToPack)	Converts the given rotation matrix into yaw-pitch-roll.
static void	convertMatrixToYawPitchRoll(RotationScaleMatrixReadOnly rotationScaleMatrix, double[] yawPitchRollToPack)	Converts the rotation part of the given rotation-scale matrix into yaw-pitch-roll.
static void	convertMatrixToYawPitchRoll(RotationScaleMatrixReadOnly rotationScaleMatrix, Tuple3DBasics eulerAnglesToPack)	Converts the rotation part of the given rotation-scale matrix into yaw-pitch-roll.
static void	convertQuaternionToYawPitchRoll(QuaternionReadOnly quaternion, double[] yawPitchRollToPack)	Converts the quaternion into yaw-pitch-roll.
static void	convertQuaternionToYawPitchRoll(QuaternionReadOnly quaternion, Tuple3DBasics eulerAnglesToPack)	Converts the given quaternion into yaw-pitch-roll.
static void	convertRotationVectorToYawPitchRoll(Vector3DReadOnly rotationVector, double[] yawPitchRollToPack)	Converts the rotation vector into yaw-pitch-roll.
static void	convertRotationVectorToYawPitchRoll(Vector3DReadOnly rotationVector, Vector3DBasics eulerAnglesToPack)	Converts the rotation vector into yaw-pitch-roll.

Methods inherited from class java.lang.Object

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

Field Detail

SAFE_THRESHOLD_PITCH

public static final double SAFE_THRESHOLD_PITCH

Represents the safety margin that

MAX_SAFE_PITCH_ANGLE

public static final double MAX_SAFE_PITCH_ANGLE

Pitch angle that defines the upper bound of the safe region in which the resulting pitch angle of a conversion is accurate. If the pitch angle from a conversion is beyond this bound, the yaw-pitch-roll becomes inaccurate.

MIN_SAFE_PITCH_ANGLE

public static final double MIN_SAFE_PITCH_ANGLE

Pitch angle that defines the lower bound of the safe region in which the resulting pitch angle of a conversion is accurate. If the pitch angle from a conversion is beyond this bound, the yaw-pitch-roll becomes inaccurate.

Constructor Detail

YawPitchRollConversion

public YawPitchRollConversion()

Method Detail

computeYawImpl

static double computeYawImpl(double m00,
                             double m10)

Computes the yaw from a rotation matrix.

This method is for internal use. Use computeYaw(RotationMatrixReadOnly) instead.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

m00 - the new 1st row 1st 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.

Returns:

the yaw angle.

computePitchImpl

static double computePitchImpl(double m20)

Computes the pitch from a rotation matrix.

This method is for internal use. Use computePitch(RotationMatrixReadOnly) instead.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

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

Returns:

the pitch angle.

computeRollImpl

static double computeRollImpl(double m21,
                              double m22)

Computes the roll from a rotation matrix.

This method is for internal use. Use computeRoll(RotationMatrixReadOnly) instead.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

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.

Returns:

the roll angle.

computeYaw

public static double computeYaw(RotationMatrixReadOnly rotationMatrix)

Computes the yaw from a rotation matrix.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationMatrix - the rotation matrix to use for the conversion. Not modified.

Returns:

the yaw angle.

computePitch

public static double computePitch(RotationMatrixReadOnly rotationMatrix)

Computes the pitch angle from a rotation matrix.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationMatrix - the rotation matrix to use for the conversion. Not modified.

Returns:

the pitch angle.

computeRoll

public static double computeRoll(RotationMatrixReadOnly rotationMatrix)

Computes the roll from a rotation matrix.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationMatrix - the rotation matrix to use for the conversion. Not modified.

Returns:

the roll angle.

computeYaw

public static double computeYaw(RotationScaleMatrixReadOnly rotationScaleMatrix)

Computes the yaw from the rotation part of a rotation-scale matrix.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns 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.

Returns:

the yaw angle.

computePitch

public static double computePitch(RotationScaleMatrixReadOnly rotationScaleMatrix)

Computes the pitch angle from the rotation part of a rotation-scale matrix.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns 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.

Returns:

the pitch angle.

computeRoll

public static double computeRoll(RotationScaleMatrixReadOnly rotationScaleMatrix)

Computes the roll from the rotation part of a rotation-scale matrix.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns 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.

Returns:

the roll angle.

convertMatrixToYawPitchRoll

public static void convertMatrixToYawPitchRoll(RotationScaleMatrixReadOnly rotationScaleMatrix,
                                               double[] yawPitchRollToPack)

Converts the rotation part of the given rotation-scale matrix into yaw-pitch-roll.

After calling this method, the rotation part of the rotation-scale matrix and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the rotation matrix contains at least one Double.NaN, the yaw-pitch-roll angles are 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.

yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored, in the order yaw, pitch, then roll. Modified.

convertMatrixToYawPitchRoll

public static void convertMatrixToYawPitchRoll(RotationMatrixReadOnly rotationMatrix,
                                               double[] yawPitchRollToPack)

Converts the rotation matrix into yaw-pitch-roll.

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

Edge case:

• if the rotation matrix contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

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

yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored, in the order yaw, pitch, then roll. Modified.

convertMatrixToYawPitchRoll

public static void convertMatrixToYawPitchRoll(RotationScaleMatrixReadOnly rotationScaleMatrix,
                                               Tuple3DBasics eulerAnglesToPack)

Converts the rotation part of the given rotation-scale matrix into yaw-pitch-roll.

After calling this method, the rotation part of the rotation-scale matrix and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the rotation matrix contains at least one Double.NaN, the yaw-pitch-roll angles are 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.

eulerAnglesToPack - the tuple in which the yaw-pitch-roll angles are stored, i.e. eulerAnglesToPack.set(roll, pitch, yaw). Modified.

convertMatrixToYawPitchRoll

public static void convertMatrixToYawPitchRoll(RotationMatrixReadOnly rotationMatrix,
                                               Tuple3DBasics eulerAnglesToPack)

Converts the given rotation matrix into yaw-pitch-roll.

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

Edge case:

• if the rotation matrix contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

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

eulerAnglesToPack - the tuple in which the yaw-pitch-roll angles are stored, i.e. eulerAnglesToPack.set(roll, pitch, yaw). Modified.

computeYawFromQuaternionImpl

static double computeYawFromQuaternionImpl(double qx,
                                           double qy,
                                           double qz,
                                           double qs)

Computes the yaw from a quaternion.

This method is for internal use. Use computeYaw(QuaternionReadOnly) instead.

Parameters:

qx - the x-component of the quaternion to use in the conversion.

qy - the y-component of the quaternion to use in the conversion.

qz - the z-component of the quaternion to use in the conversion.

qs - the s-component of the quaternion to use in the conversion.

Returns:

the yaw angle.

computePitchFromQuaternionImpl

static double computePitchFromQuaternionImpl(double qx,
                                             double qy,
                                             double qz,
                                             double qs)

Computes the pitch from a quaternion.

This method is for internal use. Use computePitch(QuaternionReadOnly) instead.

Parameters:

qx - the x-component of the quaternion to use in the conversion.

qy - the y-component of the quaternion to use in the conversion.

qz - the z-component of the quaternion to use in the conversion.

qs - the s-component of the quaternion to use in the conversion.

Returns:

the pitch angle.

computeRollFromQuaternionImpl

static double computeRollFromQuaternionImpl(double qx,
                                            double qy,
                                            double qz,
                                            double qs)

Computes the roll from a quaternion.

This method is for internal use. Use computeRoll(QuaternionReadOnly) instead.

Parameters:

qx - the x-component of the quaternion to use in the conversion.

qy - the y-component of the quaternion to use in the conversion.

qz - the z-component of the quaternion to use in the conversion.

qs - the s-component of the quaternion to use in the conversion.

Returns:

the roll angle.

computeYaw

public static double computeYaw(QuaternionReadOnly quaternion)

Computes the yaw from a quaternion.

Edge case:

• if the quaternion contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

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

Returns:

the yaw angle.

computePitch

public static double computePitch(QuaternionReadOnly quaternion)

Computes the pitch from a quaternion.

Edge case:

• if the quaternion contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

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

Returns:

the pitch angle.

computeRoll

public static double computeRoll(QuaternionReadOnly quaternion)

Computes the roll from a quaternion.

Edge case:

• if the quaternion contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

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

Returns:

the roll angle.

convertQuaternionToYawPitchRoll

public static void convertQuaternionToYawPitchRoll(QuaternionReadOnly quaternion,
                                                   double[] yawPitchRollToPack)

Converts the quaternion into yaw-pitch-roll.

After calling this method, the quaternion and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the quaternion contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

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

yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored, in the order yaw, pitch, then roll. Modified.

convertQuaternionToYawPitchRoll

public static void convertQuaternionToYawPitchRoll(QuaternionReadOnly quaternion,
                                                   Tuple3DBasics eulerAnglesToPack)

Converts the given quaternion into yaw-pitch-roll.

After calling this method, the quaternion and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the quaternion contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

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

eulerAnglesToPack - the tuple in which the yaw-pitch-roll angles are stored, i.e. eulerAnglesToPack.set(roll, pitch, yaw). Modified.

computeYawFromAxisAngleImpl

static double computeYawFromAxisAngleImpl(double ux,
                                          double uy,
                                          double uz,
                                          double angle)

Computes the yaw from the given axis-angle.

This method is for internal use. Use computeYaw(AxisAngleReadOnly) instead.

Parameters:

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

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

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

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

Returns:

the yaw angle.

computePitchFromAxisAngleImpl

static double computePitchFromAxisAngleImpl(double ux,
                                            double uy,
                                            double uz,
                                            double angle)

Computes the pitch from the given axis-angle.

This method is for internal use. Use computePitch(AxisAngleReadOnly) instead.

Parameters:

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

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

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

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

Returns:

the pitch angle.

computeRollFromAxisAngleImpl

static double computeRollFromAxisAngleImpl(double ux,
                                           double uy,
                                           double uz,
                                           double angle)

Computes the roll from the given axis-angle.

This method is for internal use. Use computeRoll(AxisAngleReadOnly) instead.

Parameters:

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

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

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

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

Returns:

the roll angle.

computeYaw

public static double computeYaw(AxisAngleReadOnly axisAngle)

Computes the yaw from an axis-angle.

Edge case:

• if the axis-angle contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

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

Returns:

the yaw angle.

computePitch

public static double computePitch(AxisAngleReadOnly axisAngle)

Computes the pitch from an axis-angle.

Edge case:

• if the axis-angle contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

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

Returns:

the pitch angle.

computeRoll

public static double computeRoll(AxisAngleReadOnly axisAngle)

Computes the roll from an axis-angle.

Edge case:

• if the axis-angle contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

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

Returns:

the roll angle.

convertAxisAngleToYawPitchRoll

public static void convertAxisAngleToYawPitchRoll(AxisAngleReadOnly axisAngle,
                                                  double[] yawPitchRollToPack)

Converts the axis-angle into yaw-pitch-roll.

After calling this method, the axis-angle and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the axis-angle contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

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

yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored, in the order yaw, pitch, then roll. Modified.

convertAxisAngleToYawPitchRoll

public static void convertAxisAngleToYawPitchRoll(AxisAngleReadOnly axisAngle,
                                                  Tuple3DBasics eulerAnglesToPack)

Converts the axis-angle into yaw-pitch-roll.

After calling this method, the axis-angle and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the axis-angle contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

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

eulerAnglesToPack - the tuple in which the yaw-pitch-roll angles are stored, i.e. eulerAnglesToPack.set(roll, pitch, yaw). Modified.

convertAxisAngleToYawPitchRollImpl

static void convertAxisAngleToYawPitchRollImpl(double ux,
                                               double uy,
                                               double uz,
                                               double angle,
                                               double[] yawPitchRollToPack)

Converts the axis-angle into yaw-pitch-roll.

This method is for internal use. Use computeYaw(AxisAngleReadOnly) instead.

After calling this method, the axis-angle and the yaw-pitch-roll angles represent the same orientation.

Parameters:

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

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

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

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

yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored, in the order yaw, pitch, then roll. Modified.

convertAxisAngleToYawPitchRollImpl

static void convertAxisAngleToYawPitchRollImpl(double ux,
                                               double uy,
                                               double uz,
                                               double angle,
                                               Tuple3DBasics eulerAnglesToPack)

Converts the axis-angle into yaw-pitch-roll.

This method is for internal use. Use computeYaw(AxisAngleReadOnly) instead.

After calling this method, the axis-angle and the yaw-pitch-roll angles represent the same orientation.

Parameters:

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

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

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

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

eulerAnglesToPack - the tuple in which the yaw-pitch-roll angles are stored, i.e. eulerAnglesToPack.set(roll, pitch, yaw). Modified.

computeYaw

public static double computeYaw(Vector3DReadOnly rotationVector)

Computes the yaw from a rotation vector.

Edge case:

• if the rotation vector contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationVector - the rotation vector to use in the conversion. Not modified.

Returns:

the yaw angle.

computePitch

public static double computePitch(Vector3DReadOnly rotationVector)

Computes the pitch from a rotation vector.

Edge case:

• if the rotation vector contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationVector - the rotation vector to use in the conversion. Not modified.

Returns:

the pitch angle.

computeRoll

public static double computeRoll(Vector3DReadOnly rotationVector)

Computes the roll from a rotation vector.

Edge case:

• if the rotation vector contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationVector - the rotation vector to use in the conversion. Not modified.

Returns:

the roll angle.

convertRotationVectorToYawPitchRoll

public static void convertRotationVectorToYawPitchRoll(Vector3DReadOnly rotationVector,
                                                       double[] yawPitchRollToPack)

Converts the rotation vector into yaw-pitch-roll.

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

Edge case:

• if the rotation vector contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

rotationVector - the rotation vector to use in the conversion. Not modified.

yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored, in the order yaw, pitch, then roll. Modified.

convertRotationVectorToYawPitchRoll

public static void convertRotationVectorToYawPitchRoll(Vector3DReadOnly rotationVector,
                                                       Vector3DBasics eulerAnglesToPack)

Converts the rotation vector into yaw-pitch-roll.

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

Edge case:

• if the rotation vector contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

rotationVector - the rotation vector to use in the conversion. Not modified.

eulerAnglesToPack - the tuple in which the yaw-pitch-roll angles are stored, i.e. eulerAnglesToPack.set(roll, pitch, yaw). Modified.