Package org.opentrafficsim.core.math

Class Direction3d

java.lang.Object

org.opentrafficsim.core.math.Direction3d

All Implemented Interfaces:

Serializable

public class Direction3d
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 absolute and relate to the absolute XYZ-frame of the world.

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
Direction3d(double roll, double pitch, double yaw, DirectionUnit unit)
Direction3d(Direction roll, Direction pitch, Direction yaw)
Direction3d(DirectionVector rotation)

Method Summary

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

Methods inherited from class java.lang.Object

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

Constructor Details

Direction3d

public Direction3d(DirectionVector rotation)
            throws ValueRuntimeException

Parameters:

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

Throws:

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

Direction3d

public Direction3d(Direction roll,
 Direction pitch,
 Direction yaw)
            throws ValueRuntimeException

Parameters:

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

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

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

Throws:

ValueRuntimeException - in case the units are incorrect

Direction3d

public Direction3d(double roll,
 double pitch,
 double yaw,
 DirectionUnit 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 - DirectionUnit; the unit of the RPY parameters

Throws:

ValueRuntimeException - in case the units are incorrect

Method Details

getRoll

public final Direction getRoll()

Returns:

the roll.

getPitch

public final Direction getPitch()

Returns:

the pitch.

getYaw

public final Direction getYaw()

Returns:

the yaw.

toString

public final String toString()

Overrides:

toString in class Object