Rotation ParameterizationsΒΆ

Simple example of how to convert a rotation matrix into equivalent formats.

ExampleRotationParameterizations.java

 1    public static void main(String[] args) {
 2 
 3        // Euler to rotation matrix
 4        DMatrixRMaj R = ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ,0.5,-1,-0.45,null);
 5 
 6        // matrix to Rodrigues
 7        Rodrigues_F64 rod = ConvertRotation3D_F64.matrixToRodrigues(R,(Rodrigues_F64)null);
 8 
 9        // Rodrigues to Quaternion
10        Quaternion_F64 quat = ConvertRotation3D_F64.rodriguesToQuaternion(rod,null);
11 
12        // Quaternion to Rotation Matrix
13        DMatrixRMaj T = ConvertRotation3D_F64.quaternionToMatrix(quat,null);
14 
15        // see if you get the same answer
16        R.print();
17        T.print();
18    }