us.ihmc.utilities.math.geometry
Class Orientation

java.lang.Object
  us.ihmc.utilities.math.geometry.Orientation

All Implemented Interfaces:

ReferenceFrameHolder

public class Orientation
extends java.lang.Object
implements ReferenceFrameHolder

Title: Orientation

Description: Take a quaternion or yaw-pitch-roll and allows conversoin between the two.

Copyright: Copyright (c) 2006

Company: IHMC

Version:

2.0

Author:

Learning Locomotion Team

Constructor Summary

Orientation(Orientation orientation)

Orientation(ReferenceFrame referenceFrame)

Orientation(ReferenceFrame referenceFrame, double[] yawPitchRoll)

Orientation(ReferenceFrame referenceFrame, double yaw, double pitch, double roll)

Orientation(ReferenceFrame referenceFrame, double qx, double qy, double qz, double qs)

Orientation(ReferenceFrame referenceFrame, javax.vecmath.Quat4d quaternion)

Orientation(ReferenceFrame referenceFrame, javax.vecmath.Quat4f quaternion)

Orientation(ReferenceFrame referenceFrame, javax.media.j3d.Transform3D transform3D)

Method Summary

Orientation	applyTransformCopy(javax.media.j3d.Transform3D transform3D)
static Orientation	averageOrientations(java.util.ArrayList<Orientation> orientations)
Orientation	changeFrameCopy(ReferenceFrame desiredFrame)
void	checkReferenceFrameMatch(ReferenceFrame frame)
void	checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)
javax.vecmath.Quat4d	getQuaternion()
void	getQuaternion(javax.vecmath.Quat4d quat4d)
ReferenceFrame	getReferenceFrame()
javax.media.j3d.Transform3D	getTransform3DCopy()
double[]	getYawPitchRoll()
void	getYawPitchRoll(double[] yawPitchRoll)
static void	getYawPitchRoll(javax.vecmath.Quat4f quat, double[] yawPitchRoll)
void	set(javax.vecmath.Quat4d quat4d)
void	set(javax.vecmath.Quat4f quat4f)
void	setYawPitchRoll(double[] yawPitchRoll)
void	setYawPitchRoll(double yaw, double pitch, double roll)
java.lang.String	toString()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Orientation

public Orientation(Orientation orientation)

Orientation

public Orientation(ReferenceFrame referenceFrame)

Orientation

public Orientation(ReferenceFrame referenceFrame,
                   javax.media.j3d.Transform3D transform3D)

Orientation

public Orientation(ReferenceFrame referenceFrame,
                   javax.vecmath.Quat4d quaternion)

Orientation

public Orientation(ReferenceFrame referenceFrame,
                   javax.vecmath.Quat4f quaternion)

Orientation

public Orientation(ReferenceFrame referenceFrame,
                   double qx,
                   double qy,
                   double qz,
                   double qs)

Orientation

public Orientation(ReferenceFrame referenceFrame,
                   double yaw,
                   double pitch,
                   double roll)

Orientation

public Orientation(ReferenceFrame referenceFrame,
                   double[] yawPitchRoll)

Method Detail

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrameHolder referenceFrameHolder)

Specified by:

checkReferenceFrameMatch in interface ReferenceFrameHolder

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrame frame)
                              throws ReferenceFrameMismatchException

Specified by:

checkReferenceFrameMatch in interface ReferenceFrameHolder

Throws:

ReferenceFrameMismatchException

getReferenceFrame

public ReferenceFrame getReferenceFrame()

Specified by:

getReferenceFrame in interface ReferenceFrameHolder

getTransform3DCopy

public javax.media.j3d.Transform3D getTransform3DCopy()

set

public void set(javax.vecmath.Quat4f quat4f)

set

public void set(javax.vecmath.Quat4d quat4d)

setYawPitchRoll

public void setYawPitchRoll(double yaw,
                            double pitch,
                            double roll)

setYawPitchRoll

public void setYawPitchRoll(double[] yawPitchRoll)

getYawPitchRoll

public void getYawPitchRoll(double[] yawPitchRoll)

getYawPitchRoll

public double[] getYawPitchRoll()

getYawPitchRoll

public static void getYawPitchRoll(javax.vecmath.Quat4f quat,
                                   double[] yawPitchRoll)

averageOrientations

public static Orientation averageOrientations(java.util.ArrayList<Orientation> orientations)

getQuaternion

public void getQuaternion(javax.vecmath.Quat4d quat4d)

getQuaternion

public javax.vecmath.Quat4d getQuaternion()

applyTransformCopy

public Orientation applyTransformCopy(javax.media.j3d.Transform3D transform3D)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

changeFrameCopy

public Orientation changeFrameCopy(ReferenceFrame desiredFrame)

Specified by:

changeFrameCopy in interface ReferenceFrameHolder