Package org.opentrafficsim.core.math

Class Angle3d

java.lang.Object

org.opentrafficsim.core.math.Angle3d

All Implemented Interfaces:

Serializable

public class Angle3d
extends Object
implements Serializable

3D-rotation, RPY coded (longitudinal roll along the x-axis, lateral pitch along the y-axis and vertical yaw along the z-axis), also called Tait–Bryan angles or Cardan angles. Angles are relative, and can relate to e.g. the inertial frame of a GTU.

Copyright (c) 2013-2023 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

• Serialized Form

Constructor Summary

Constructors

Constructor	Description
Angle3d(double roll, double pitch, double yaw, AngleUnit unit)
Angle3d(Angle roll, Angle pitch, Angle yaw)
Angle3d(AngleVector rotation)

Method Summary

Modifier and Type	Method	Description
final Angle	getPitch()
final Angle	getRoll()
final Angle	getYaw()
final String	toString()

Methods inherited from class java.lang.Object

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

Constructor Details

Angle3d

public Angle3d(AngleVector rotation)
        throws ValueRuntimeException

Parameters:

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

Throws:

ValueRuntimeException - in case the vector does not have exactly three elements

Angle3d

public Angle3d(Angle roll,
 Angle pitch,
 Angle yaw)
        throws ValueRuntimeException

Parameters:

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

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

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

Throws:

ValueRuntimeException - in case the units are incorrect

Angle3d

public Angle3d(double roll,
 double pitch,
 double yaw,
 AngleUnit unit)
        throws ValueRuntimeException

Parameters:

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

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

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

unit - AngleUnit; the unit of the RPY parameters

Throws:

ValueRuntimeException - in case the units are incorrect

Method Details

getRoll

public final Angle getRoll()

Returns:

the roll.

getPitch

public final Angle getPitch()

Returns:

the pitch.

getYaw

public final Angle getYaw()

Returns:

the yaw.

toString

public final String toString()

Overrides:

toString in class Object