1 package org.opentrafficsim.core.math;
2
3 import java.io.Serializable;
4 import java.util.Locale;
5
6 import org.djunits.unit.AngleUnit;
7 import org.djunits.value.ValueRuntimeException;
8 import org.djunits.value.vdouble.scalar.Angle;
9 import org.djunits.value.vdouble.vector.AngleVector;
10
11 /**
12 * 3D-rotation, RPY coded (longitudinal roll along the x-axis, lateral pitch along the y-axis and vertical yaw along the
13 * z-axis), also called Tait–Bryan angles or Cardan angles. Angles are relative, and can relate to e.g. the inertial frame of a
14 * GTU.
15 * <p>
16 * Copyright (c) 2013-2024 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
17 * BSD-style license. See <a href="https://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
18 * </p>
19 * @author <a href="https://github.com/averbraeck">Alexander Verbraeck</a>
20 * @author <a href="https://tudelft.nl/staff/p.knoppers-1">Peter Knoppers</a>
21 */
22 public class Angle3d implements Serializable
23 {
24 /** */
25 private static final long serialVersionUID = 20160000L;
26
27 /** The rotations of the rotation in 3D (RPY coded). */
28 private final AngleVector rotation;
29
30 /**
31 * @param rotation AngleVector; the angles of the rotation in 3D (RPY coded)
32 * @throws ValueRuntimeException in case the vector does not have exactly three elements
33 */
34 public Angle3d(final AngleVector rotation) throws ValueRuntimeException
35 {
36 if (rotation.size() != 3)
37 {
38 throw new ValueRuntimeException("Size of an RPY-rotation vector should be exactly 3. Got: " + rotation);
39 }
40 this.rotation = rotation;
41 }
42
43 /**
44 * @param roll Angle; (phi) the rotation around the x-axis
45 * @param pitch Angle; (theta) the rotation around the y-axis
46 * @param yaw Angle; (psi) the rotation around the z-axis
47 * @throws ValueRuntimeException in case the units are incorrect
48 */
49 public Angle3d(final Angle roll, final Angle pitch, final Angle yaw) throws ValueRuntimeException
50 {
51 this.rotation = new AngleVector(new Angle[] {roll, pitch, yaw}, AngleUnit.SI);
52 }
53
54 /**
55 * @param roll double; (phi) the rotation around the x-axis
56 * @param pitch double; (theta) the rotation around the y-axis
57 * @param yaw double; (psi) the rotation around the z-axis
58 * @param unit AngleUnit; the unit of the RPY parameters
59 * @throws ValueRuntimeException in case the units are incorrect
60 */
61 public Angle3d(final double roll, final double pitch, final double yaw, final AngleUnit unit) throws ValueRuntimeException
62 {
63 this.rotation = new AngleVector(new double[] {roll, pitch, yaw}, unit);
64 }
65
66 /**
67 * @return the roll.
68 */
69 public final Angle getRoll()
70 {
71 try
72 {
73 return this.rotation.get(0);
74 }
75 catch (ValueRuntimeException exception)
76 {
77 // should be impossible as we constructed the vector always with three elements
78 throw new RuntimeException(
79 "getRoll() gave an exception; apparently vector " + this.rotation + " was not constructed right",
80 exception);
81 }
82 }
83
84 /**
85 * @return the pitch.
86 */
87 public final Angle getPitch()
88 {
89 try
90 {
91 return this.rotation.get(1);
92 }
93 catch (ValueRuntimeException exception)
94 {
95 // should be impossible as we constructed the vector always with three elements
96 throw new RuntimeException(
97 "getPitch() gave an exception; apparently vector " + this.rotation + " was not constructed right",
98 exception);
99 }
100 }
101
102 /**
103 * @return the yaw.
104 */
105 public final Angle getYaw()
106 {
107 try
108 {
109 return this.rotation.get(2);
110 }
111 catch (ValueRuntimeException exception)
112 {
113 // should be impossible as we constructed the vector always with three elements
114 throw new RuntimeException(
115 "getYaw() gave an exception; apparently vector " + this.rotation + " was not constructed right", exception);
116 }
117 }
118
119 /** {@inheritDoc} */
120 @Override
121 public final String toString()
122 {
123 return String.format(Locale.US, "Angle3d.Rel roll %s, pitch %s, yaw %s", getRoll(), getPitch(), getYaw());
124 }
125 }