Package org.opentrafficsim.core.math

Class Angle3d

java.lang.Object
org.opentrafficsim.core.math.Angle3d
public class Angle3d extends Object
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) 2013-2026 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

  • Constructor Summary

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

  • Method Summary

    Modifier and Type
    Method
    Description
    final org.djunits.value.vdouble.scalar.Angle
    getPitch()
    Returns the pitch.
    final org.djunits.value.vdouble.scalar.Angle
    getRoll()
    Returns the roll.
    final org.djunits.value.vdouble.scalar.Angle
    getYaw()
    Returns the yaw.
    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 ValueRuntimeException
      Constructor.
      Parameters:
      rotation - the angles of the rotation in 3D (RPY coded)
      Throws:
      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 ValueRuntimeException
      Constructor.
      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:
      ValueRuntimeException - in case the units are incorrect

    • Angle3d

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

  • Method Details

    • getRoll

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

    • getPitch

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

    • getYaw

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

    • toString

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