001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.math.jni;
006
007/** Transform3d JNI. */
008public final class Transform3dJNI extends WPIMathJNI {
009  /**
010   * Returns a Twist3d that maps the Transform3d (pose delta).
011   *
012   * <p>The double array returned is of the form [dx, dy, dz, rx, ry, rz].
013   *
014   * @param relX The transform's translational X component.
015   * @param relY The transform's translational Y component.
016   * @param relZ The transform's translational Z component.
017   * @param relQw The transform quaternion's W component.
018   * @param relQx The transform quaternion's X component.
019   * @param relQy The transform quaternion's Y component.
020   * @param relQz The transform quaternion's Z component.
021   * @return The twist that maps start to end as a double array.
022   */
023  public static native double[] log(
024      double relX,
025      double relY,
026      double relZ,
027      double relQw,
028      double relQx,
029      double relQy,
030      double relQz);
031
032  /** Utility class. */
033  private Transform3dJNI() {}
034}