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) 2013-2024 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:

  • Constructor Summary

    Constructors
    Constructor
    Description
    Angle3d(double roll, double pitch, double yaw, org.djunits.unit.AngleUnit unit)
     
    Angle3d(org.djunits.value.vdouble.scalar.Angle roll, org.djunits.value.vdouble.scalar.Angle pitch, org.djunits.value.vdouble.scalar.Angle yaw)
     
    Angle3d(org.djunits.value.vdouble.vector.AngleVector rotation)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    final org.djunits.value.vdouble.scalar.Angle
    getPitch()
     
    final org.djunits.value.vdouble.scalar.Angle
    getRoll()
     
    final org.djunits.value.vdouble.scalar.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(org.djunits.value.vdouble.vector.AngleVector rotation) throws org.djunits.value.ValueRuntimeException
      Parameters:
      rotation - AngleVector; the angles of the rotation in 3D (RPY coded)
      Throws:
      org.djunits.value.ValueRuntimeException - in case the vector does not have exactly three elements

    • Angle3d

      public Angle3d(org.djunits.value.vdouble.scalar.Angle roll, org.djunits.value.vdouble.scalar.Angle pitch, org.djunits.value.vdouble.scalar.Angle yaw) throws org.djunits.value.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:
      org.djunits.value.ValueRuntimeException - in case the units are incorrect

    • Angle3d

      public Angle3d(double roll, double pitch, double yaw, org.djunits.unit.AngleUnit unit) throws org.djunits.value.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:
      org.djunits.value.ValueRuntimeException - in case the units are incorrect

  • Method Details

    • getRoll

      public final org.djunits.value.vdouble.scalar.Angle getRoll()
      Returns:
      the roll.

    • getPitch

      public final org.djunits.value.vdouble.scalar.Angle getPitch()
      Returns:
      the pitch.

    • getYaw

      public final org.djunits.value.vdouble.scalar.Angle getYaw()
      Returns:
      the yaw.

    • toString

      public final String toString()
      Overrides:
      toString in class Object