rtron-math/io.rtron.math.geometry.euclidean.threed/Rotation3D

Rotation3D

class Rotation3D(heading: Double, pitch: Double = 0.0, roll: Double = 0.0)

Rotation in the three-dimensional space given as Tait-Bryan angles. See the wikipedia article on Tait–Bryan angles. Further, see the wikipedia article on aircraft principal axes.

Parameters

heading

around z-axis, 0.0 = direction of x-axis / east (+π/2 = direction of y-axis / north)

pitch

around y’-axis, 0.0 = level (in x’/y’ plane), ( +π/2 = direction of negative z-axis)

roll

around x’’-axis, 0.0 = level (parallel to x’’/y’’ plane)

Constructors

Rotation3D

constructor(heading: Double, pitch: Double = 0.0, roll: Double = 0.0)

Types

Companion

object Companion

Properties

heading

val heading: Double

headingDegree

val headingDegree: Double

pitch

val pitch: Double

pitchDegree

val pitchDegree: Double

roll

val roll: Double

rollDegree

val rollDegree: Double

Functions

getMatrix

fun getMatrix(): RealMatrix

minus

operator fun minus(v: Rotation3D): Rotation3D

plus

operator fun plus(v: Rotation3D): Rotation3D

toRotation2D

fun toRotation2D(selectAxis: Vector3D = Vector3D.Z_AXIS): Rotation2D

Conversion to a rotation in 2D.

toString

open override fun toString(): String