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Abstract class for all geometric objects in 3D.

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Visitor interface for 3D geometries. Visitor pattern is applied to separate geometry transformation algorithms from the actual object structure of the 3D geometry.

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data class Pose3D(val point: Vector3D = Vector3D.ZERO, val rotation: Rotation3D = Rotation3D.ZERO)

A pose in 3D consists of a position and an orientation. See the wikipedia article on pose.

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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.