edu.wpi.first.math.geometry.Rotation3d

All Implemented Interfaces:: Interpolatable<Rotation3d>, ProtobufSerializable, StructSerializable, WPISerializable

public class Rotation3d
extends Object
implements Interpolatable<Rotation3d>, ProtobufSerializable, StructSerializable

A rotation in a 3D coordinate frame represented by a quaternion.

Field Summary

Fields

Modifier and Type Field Description

static Rotation3dProto proto
Rotation3d protobuf for serialization.

static Rotation3dStruct struct
Rotation3d struct for serialization.

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
- proto
  
  public static final Rotation3dProto proto
  
  Rotation3d protobuf for serialization.
- struct
  
  public static final Rotation3dStruct struct
  
  Rotation3d struct for serialization.
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.

Modifier and Type	Field	Description
`static Rotation3dProto`	`proto`	Rotation3d protobuf for serialization.
`static Rotation3dStruct`	`struct`	Rotation3d struct for serialization.

Class Rotation3d

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Details

Constructor Details

Method Details