georegression.struct.so

Class Rodrigues_F64

java.lang.Object

georegression.struct.so.Rodrigues_F64

All Implemented Interfaces:

java.io.Serializable

public class Rodrigues_F64
extends java.lang.Object
implements java.io.Serializable

Defines a 3D rotation based upon the axis of rotation and the angle of rotation in SO(3).

R(θ) = e^w*θ
R(θ) = 1 + w*sin(θ) + w²*(1-cos(θ))
where θ is the angle of rotation, 'w' is a skew symmetric matrix around the axis of rotation.

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
double	theta
Vector3D_F64	unitAxisRotation

Constructor Summary

Constructors

Constructor and Description
Rodrigues_F64()
Rodrigues_F64(double theta, double x, double y, double z) Constructor which specifies the transform using an unnormalized rotation axis.
Rodrigues_F64(double theta, Vector3D_F64 unitAxisRotation) Constructor which specifies the transform.

Method Summary

Modifier and Type	Method and Description
double	getTheta()
Vector3D_F64	getUnitAxisRotation()
void	setParamVector(double x, double y, double z) Assign the Rodrigues coordinates using a 3 element vector.
void	setTheta(double theta)
void	setUnitAxisRotation(Vector3D_F64 unitAxisRotation)
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

unitAxisRotation

public Vector3D_F64 unitAxisRotation

theta

public double theta

Constructor Detail

Rodrigues_F64

public Rodrigues_F64()

Rodrigues_F64

public Rodrigues_F64(double theta,
                     Vector3D_F64 unitAxisRotation)

Constructor which specifies the transform.

Parameters:

theta - Angle of rotation

unitAxisRotation - Axis of rotation Must be normalized to 1.

Rodrigues_F64

public Rodrigues_F64(double theta,
                     double x,
                     double y,
                     double z)

Constructor which specifies the transform using an unnormalized rotation axis.

Parameters:

theta - Angle of rotation

x - Axis of rotation. x-component.

y - Axis of rotation. y-component.

z - Axis of rotation. z-component.

Method Detail

getUnitAxisRotation

public Vector3D_F64 getUnitAxisRotation()

setUnitAxisRotation

public void setUnitAxisRotation(Vector3D_F64 unitAxisRotation)

getTheta

public double getTheta()

setTheta

public void setTheta(double theta)

setParamVector

public void setParamVector(double x,
                           double y,
                           double z)

Assign the Rodrigues coordinates using a 3 element vector. Theta is the vector's magnitude and the axis of rotation is the unit vector.

Parameters:

x - x-component of 3 vector

y - y-component of 3 vector

z - z-component of 3 vector

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object