Package edu.wpi.first.math.jni

Class Transform3dJNI

java.lang.Object

edu.wpi.first.math.jni.WPIMathJNI

edu.wpi.first.math.jni.Transform3dJNI

public final class Transform3dJNI
extends WPIMathJNI

Transform3d JNI.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.math.jni.WPIMathJNI

WPIMathJNI.Helper

Method Summary

Modifier and Type	Method	Description
static double[]	log(double relX, double relY, double relZ, double relQw, double relQx, double relQy, double relQz)	Returns a Twist3d that maps the Transform3d (pose delta).

Methods inherited from class edu.wpi.first.math.jni.WPIMathJNI

forceLoad

Methods inherited from class java.lang.Object

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

Method Details

log

public static double[] log(double relX,
 double relY,
 double relZ,
 double relQw,
 double relQx,
 double relQy,
 double relQz)

Returns a Twist3d that maps the Transform3d (pose delta).

The double array returned is of the form [dx, dy, dz, rx, ry, rz].

Parameters:

relX - The transform's translational X component.

relY - The transform's translational Y component.

relZ - The transform's translational Z component.

relQw - The transform quaternion's W component.

relQx - The transform quaternion's X component.

relQy - The transform quaternion's Y component.

relQz - The transform quaternion's Z component.

Returns:

The twist that maps start to end as a double array.