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/** Twist3d JNI. */
008public final class Twist3dJNI extends WPIMathJNI {
009  /**
010   * Obtain a Transform3d from a (constant curvature) velocity.
011   *
012   * <p>The double array returned is of the form [dx, dy, dz, qw, qx, qy, qz].
013   *
014   * @param twistDx The twist's dx value.
015   * @param twistDy The twist's dy value.
016   * @param twistDz The twist's dz value.
017   * @param twistRx The twist's rx value.
018   * @param twistRy The twist's ry value.
019   * @param twistRz The twist's rz value.
020   * @return The new pose as a double array.
021   */
022  public static native double[] exp(
023      double twistDx,
024      double twistDy,
025      double twistDz,
026      double twistRx,
027      double twistRy,
028      double twistRz);
029
030  /** Utility class. */
031  private Twist3dJNI() {}
032}