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 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 absolute and relate to the absolute XYZ-frame of the world.

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
Direction3D(double roll, double pitch, double yaw, DirectionUnit unit)	Construct a new Direction3D.
Direction3D(Direction roll, Direction pitch, Direction yaw)	Construct a new Direction3D.
Direction3D(DirectionVector rotation)	Construct a new Direction3D.

Method Summary

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

Methods inherited from class java.lang.Object

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

Constructor Detail

Direction3D

public Direction3D(DirectionVector rotation)
            throws ValueRuntimeException

Construct a new Direction3D.

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

Construct a new Direction3D.

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

Construct a new Direction3D.

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 Detail

getRoll

public final Direction getRoll()

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

Returns:

Direction; the roll.

getPitch

public final Direction getPitch()

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

Returns:

Direction; the pitch.

getYaw

public final Direction getYaw()

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

Returns:

Direction; the yaw

toString

public final String toString()

Overrides:

toString in class Object