Package edu.wpi.first.math.jni

Class Twist3dJNI

java.lang.Object

edu.wpi.first.math.jni.WPIMathJNI

edu.wpi.first.math.jni.Twist3dJNI

public final class Twist3dJNI
extends WPIMathJNI

Twist3d 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[]	exp(double twistDx, double twistDy, double twistDz, double twistRx, double twistRy, double twistRz)	Obtain a Transform3d from a (constant curvature) velocity.

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

exp

public static double[] exp(double twistDx,
 double twistDy,
 double twistDz,
 double twistRx,
 double twistRy,
 double twistRz)

Obtain a Transform3d from a (constant curvature) velocity.

The double array returned is of the form [dx, dy, dz, qw, qx, qy, qz].

Parameters:

twistDx - The twist's dx value.

twistDy - The twist's dy value.

twistDz - The twist's dz value.

twistRx - The twist's rx value.

twistRy - The twist's ry value.

twistRz - The twist's rz value.

Returns:

The new pose as a double array.