Package edu.wpi.first.math.jni

Class Pose3dJNI

java.lang.Object

edu.wpi.first.math.jni.WPIMathJNI

edu.wpi.first.math.jni.Pose3dJNI

public final class Pose3dJNI
extends WPIMathJNI

Pose3d 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 poseX, double poseY, double poseZ, double poseQw, double poseQx, double poseQy, double poseQz, double twistDx, double twistDy, double twistDz, double twistRx, double twistRy, double twistRz)	Obtain a Pose3d from a (constant curvature) velocity.
static double[]	log(double startX, double startY, double startZ, double startQw, double startQx, double startQy, double startQz, double endX, double endY, double endZ, double endQw, double endQx, double endQy, double endQz)	Returns a Twist3d that maps the starting pose to the end pose.

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 poseX,
 double poseY,
 double poseZ,
 double poseQw,
 double poseQx,
 double poseQy,
 double poseQz,
 double twistDx,
 double twistDy,
 double twistDz,
 double twistRx,
 double twistRy,
 double twistRz)

Obtain a Pose3d from a (constant curvature) velocity.

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

Parameters:

poseX - The pose's translational X component.

poseY - The pose's translational Y component.

poseZ - The pose's translational Z component.

poseQw - The pose quaternion's W component.

poseQx - The pose quaternion's X component.

poseQy - The pose quaternion's Y component.

poseQz - The pose quaternion's Z component.

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.

log

public static double[] log(double startX,
 double startY,
 double startZ,
 double startQw,
 double startQx,
 double startQy,
 double startQz,
 double endX,
 double endY,
 double endZ,
 double endQw,
 double endQx,
 double endQy,
 double endQz)

Returns a Twist3d that maps the starting pose to the end pose.

The double array returned is of the form [dx, dy, dz, rx, ry, rz].

Parameters:

startX - The starting pose's translational X component.

startY - The starting pose's translational Y component.

startZ - The starting pose's translational Z component.

startQw - The starting pose quaternion's W component.

startQx - The starting pose quaternion's X component.

startQy - The starting pose quaternion's Y component.

startQz - The starting pose quaternion's Z component.

endX - The ending pose's translational X component.

endY - The ending pose's translational Y component.

endZ - The ending pose's translational Z component.

endQw - The ending pose quaternion's W component.

endQx - The ending pose quaternion's X component.

endQy - The ending pose quaternion's Y component.

endQz - The ending pose quaternion's Z component.

Returns:

The twist that maps start to end as a double array.