Package edu.wpi.first.math.geometry

Class Rotation3d

java.lang.Object
edu.wpi.first.math.geometry.Rotation3d
All Implemented Interfaces:
Interpolatable<Rotation3d>
public class Rotation3d
extends Object
implements Interpolatable<Rotation3d>
A rotation in a 3D coordinate frame represented by a quaternion.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    static Rotation3dProto proto  
    static Rotation3dStruct struct  

  • Constructor Summary

    Constructors 
    Constructor Description
    Rotation3d()
    Constructs a Rotation3d with a default angle of 0 degrees.
    Rotation3d​(double roll, double pitch, double yaw)
    Constructs a Rotation3d from extrinsic roll, pitch, and yaw.
    Rotation3d​(Quaternion q)
    Constructs a Rotation3d from a quaternion.
    Rotation3d​(Matrix<N3,​N3> rotationMatrix)
    Constructs a Rotation3d from a rotation matrix.
    Rotation3d​(Vector<N3> rvec)
    Constructs a Rotation3d with the given rotation vector representation.
    Rotation3d​(Vector<N3> axis, double angleRadians)
    Constructs a Rotation3d with the given axis-angle representation.
    Rotation3d​(Vector<N3> initial, Vector<N3> last)
    Constructs a Rotation3d that rotates the initial vector onto the final vector.

  • Method Summary

    Modifier and Type Method Description
    Rotation3d div​(double scalar)
    Divides the current rotation by a scalar.
    boolean equals​(Object obj)
    Checks equality between this Rotation3d and another object.
    double getAngle()
    Returns the angle in radians in the axis-angle representation of this rotation.
    Vector<N3> getAxis()
    Returns the axis in the axis-angle representation of this rotation.
    Quaternion getQuaternion()
    Returns the quaternion representation of the Rotation3d.
    double getX()
    Returns the counterclockwise rotation angle around the X axis (roll) in radians.
    double getY()
    Returns the counterclockwise rotation angle around the Y axis (pitch) in radians.
    double getZ()
    Returns the counterclockwise rotation angle around the Z axis (yaw) in radians.
    int hashCode()  
    Rotation3d interpolate​(Rotation3d endValue, double t)
    Return the interpolated value.
    Rotation3d minus​(Rotation3d other)
    Subtracts the new rotation from the current rotation and returns the new rotation.
    Rotation3d plus​(Rotation3d other)
    Adds two rotations together.
    Rotation3d rotateBy​(Rotation3d other)
    Adds the new rotation to the current rotation.
    Rotation3d times​(double scalar)
    Multiplies the current rotation by a scalar.
    Rotation2d toRotation2d()
    Returns a Rotation2d representing this Rotation3d projected into the X-Y plane.
    String toString()  
    Rotation3d unaryMinus()
    Takes the inverse of the current rotation.

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, wait, wait, wait

  • Field Details

  • Constructor Details

    • Rotation3d

      public Rotation3d()
      Constructs a Rotation3d with a default angle of 0 degrees.

    • Rotation3d

      public Rotation3d​(Quaternion q)
      Constructs a Rotation3d from a quaternion.
      Parameters:
      q - The quaternion.

    • Rotation3d

      public Rotation3d​(double roll, double pitch, double yaw)
      Constructs a Rotation3d from extrinsic roll, pitch, and yaw.

      Extrinsic rotations occur in that order around the axes in the fixed global frame rather than the body frame.

      Angles are measured counterclockwise with the rotation axis pointing "out of the page". If you point your right thumb along the positive axis direction, your fingers curl in the direction of positive rotation.

      Parameters:
      roll - The counterclockwise rotation angle around the X axis (roll) in radians.
      pitch - The counterclockwise rotation angle around the Y axis (pitch) in radians.
      yaw - The counterclockwise rotation angle around the Z axis (yaw) in radians.

    • Rotation3d

      public Rotation3d​(Vector<N3> rvec)
      Constructs a Rotation3d with the given rotation vector representation. This representation is equivalent to axis-angle, where the normalized axis is multiplied by the rotation around the axis in radians.
      Parameters:
      rvec - The rotation vector.

    • Rotation3d

      public Rotation3d​(Vector<N3> axis, double angleRadians)
      Constructs a Rotation3d with the given axis-angle representation. The axis doesn't have to be normalized.
      Parameters:
      axis - The rotation axis.
      angleRadians - The rotation around the axis in radians.

    • Rotation3d

      public Rotation3d​(Matrix<N3,​N3> rotationMatrix)
      Constructs a Rotation3d from a rotation matrix.
      Parameters:
      rotationMatrix - The rotation matrix.
      Throws:
      IllegalArgumentException - if the rotation matrix isn't special orthogonal.

    • Rotation3d

      public Rotation3d​(Vector<N3> initial, Vector<N3> last)
      Constructs a Rotation3d that rotates the initial vector onto the final vector.

      This is useful for turning a 3D vector (final) into an orientation relative to a coordinate system vector (initial).

      Parameters:
      initial - The initial vector.
      last - The final vector.

  • Method Details

    • plus

      public Rotation3d plus​(Rotation3d other)
      Adds two rotations together.
      Parameters:
      other - The rotation to add.
      Returns:
      The sum of the two rotations.

    • minus

      public Rotation3d minus​(Rotation3d other)
      Subtracts the new rotation from the current rotation and returns the new rotation.
      Parameters:
      other - The rotation to subtract.
      Returns:
      The difference between the two rotations.

    • unaryMinus

      public Rotation3d unaryMinus()
      Takes the inverse of the current rotation.
      Returns:
      The inverse of the current rotation.

    • times

      public Rotation3d times​(double scalar)
      Multiplies the current rotation by a scalar.
      Parameters:
      scalar - The scalar.
      Returns:
      The new scaled Rotation3d.

    • div

      public Rotation3d div​(double scalar)
      Divides the current rotation by a scalar.
      Parameters:
      scalar - The scalar.
      Returns:
      The new scaled Rotation3d.

    • rotateBy

      public Rotation3d rotateBy​(Rotation3d other)
      Adds the new rotation to the current rotation. The other rotation is applied extrinsically, which means that it rotates around the global axes. For example, new Rotation3d(Units.degreesToRadians(90), 0, 0).rotateBy(new Rotation3d(0, Units.degreesToRadians(45), 0)) rotates by 90 degrees around the +X axis and then by 45 degrees around the global +Y axis. (This is equivalent to new Rotation3d(Units.degreesToRadians(90), Units.degreesToRadians(45), 0))
      Parameters:
      other - The extrinsic rotation to rotate by.
      Returns:
      The new rotated Rotation3d.

    • getQuaternion

      public Quaternion getQuaternion()
      Returns the quaternion representation of the Rotation3d.
      Returns:
      The quaternion representation of the Rotation3d.

    • getX

      public double getX()
      Returns the counterclockwise rotation angle around the X axis (roll) in radians.
      Returns:
      The counterclockwise rotation angle around the X axis (roll) in radians.

    • getY

      public double getY()
      Returns the counterclockwise rotation angle around the Y axis (pitch) in radians.
      Returns:
      The counterclockwise rotation angle around the Y axis (pitch) in radians.

    • getZ

      public double getZ()
      Returns the counterclockwise rotation angle around the Z axis (yaw) in radians.
      Returns:
      The counterclockwise rotation angle around the Z axis (yaw) in radians.

    • getAxis

      public Vector<N3> getAxis()
      Returns the axis in the axis-angle representation of this rotation.
      Returns:
      The axis in the axis-angle representation.

    • getAngle

      public double getAngle()
      Returns the angle in radians in the axis-angle representation of this rotation.
      Returns:
      The angle in radians in the axis-angle representation of this rotation.

    • toRotation2d

      public Rotation2d toRotation2d()
      Returns a Rotation2d representing this Rotation3d projected into the X-Y plane.
      Returns:
      A Rotation2d representing this Rotation3d projected into the X-Y plane.

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • equals

      public boolean equals​(Object obj)
      Checks equality between this Rotation3d and another object.
      Overrides:
      equals in class Object
      Parameters:
      obj - The other object.
      Returns:
      Whether the two objects are equal or not.

    • hashCode

      public int hashCode()
      Overrides:
      hashCode in class Object

    • interpolate

      public Rotation3d interpolate​(Rotation3d endValue, double t)
      Description copied from interface: Interpolatable
      Return the interpolated value. This object is assumed to be the starting position, or lower bound.
      Specified by:
      interpolate in interface Interpolatable<Rotation3d>
      Parameters:
      endValue - The upper bound, or end.
      t - How far between the lower and upper bound we are. This should be bounded in [0, 1].
      Returns:
      The interpolated value.