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 around the x-axis, lateral pitch around the y-axis and vertical yaw around 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) 2013-2020 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

$LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $, initial version Dec 10, 2015

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor	Description
Angle3D(double roll, double pitch, double yaw, AngleUnit unit)	Construct a new Angle3D.
Angle3D(Angle roll, Angle pitch, Angle yaw)	Construct a new Angle3D.
Angle3D(AngleVector rotation)	Construct a new Angle3D.

Method Summary

Modifier and Type	Method	Description
Angle	getPitch()	Retrieve the pitch (rotation around the y-axis).
Angle	getRoll()	Retrieve the roll (rotation around the x-axis).
Angle	getYaw()	Retrieve the yaw (rotation around the z-axis).
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

Angle3D

public Angle3D(AngleVector rotation)
        throws ValueRuntimeException

Construct a new Angle3D.

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

Construct a new Angle3D.

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

Construct a new Angle3D.

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 Detail

getRoll

public final Angle getRoll()

Retrieve the roll (rotation around the x-axis).

Returns:

Angle; the roll

getPitch

public final Angle getPitch()

Retrieve the pitch (rotation around the y-axis).

Returns:

Angle; the pitch

getYaw

public final Angle getYaw()

Retrieve the yaw (rotation around the z-axis).

Returns:

Angle; the yaw

toString

public final String toString()

Overrides:

toString in class Object