org.opentrafficsim.core.math

Class Rotation3D.Rel

java.lang.Object

org.opentrafficsim.core.math.Rotation3D.Rel

Enclosing interface:

Rotation3D

public static class Rotation3D.Rel
extends Object

The relative RPY coded 3D-rotation. Angles are relative, and can relate to e.g. the inertial frame of a GTU.

Copyright (c) 2013-2015 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands.
All rights reserved.
BSD-style license. See OpenTrafficSim License.

$LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $, initial version Dec 10, 2015

Author:

Alexander Verbraeck, Peter Knoppers

Constructor Summary

Constructors

Constructor and Description
Rel(org.djunits.value.vdouble.scalar.Angle.Rel roll, org.djunits.value.vdouble.scalar.Angle.Rel pitch, org.djunits.value.vdouble.scalar.Angle.Rel yaw)
Rel(org.djunits.value.vdouble.vector.AngleVector.Rel rotation)
Rel(double roll, double pitch, double yaw, org.djunits.unit.AngleUnit unit)

Method Summary

Modifier and Type	Method and Description
org.djunits.value.vdouble.scalar.Angle.Rel	getPitch()
org.djunits.value.vdouble.scalar.Angle.Rel	getRoll()
org.djunits.value.vdouble.scalar.Angle.Rel	getYaw()
String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Rel

public Rel(org.djunits.value.vdouble.vector.AngleVector.Rel rotation)
    throws org.djunits.value.ValueException

Parameters:

rotation - the angles of the rotation in 3D (RPY coded)

Throws:

org.djunits.value.ValueException - in case the vector does not have exactly three elements

Rel

public Rel(org.djunits.value.vdouble.scalar.Angle.Rel roll,
           org.djunits.value.vdouble.scalar.Angle.Rel pitch,
           org.djunits.value.vdouble.scalar.Angle.Rel yaw)
    throws org.djunits.value.ValueException

Parameters:

roll - (phi) the rotation around the x-axis

pitch - (theta) the rotation around the y-axis

yaw - (psi) the rotation around the z-axis

Throws:

org.djunits.value.ValueException - in case the units are incorrect

Rel

public Rel(double roll,
           double pitch,
           double yaw,
           org.djunits.unit.AngleUnit unit)
    throws org.djunits.value.ValueException

Parameters:

roll - (phi) the rotation around the x-axis

pitch - (theta) the rotation around the y-axis

yaw - (psi) the rotation around the z-axis

unit - the unit of the RPY parameters

Throws:

org.djunits.value.ValueException - in case the units are incorrect

Method Detail

getRoll

public final org.djunits.value.vdouble.scalar.Angle.Rel getRoll()

Returns:

the roll.

getPitch

public final org.djunits.value.vdouble.scalar.Angle.Rel getPitch()

Returns:

the pitch.

getYaw

public final org.djunits.value.vdouble.scalar.Angle.Rel getYaw()

Returns:

the yaw.

toString

public final String toString()

Overrides:

toString in class Object