Rodrigues_F64

java.lang.Object

georegression.struct.so.Rodrigues_F64

All Implemented Interfaces:: Serializable

public class Rodrigues_F64 extends Object implements 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

Description

double

theta

Vector3D_F64

unitAxisRotation
Constructor Summary

Constructors

Constructor

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

Description

Vector3D_F64

getUnitAxisRotation()

void

setParamVector(double x, double y, double z)

Assign the Rodrigues coordinates using a 3 element vector.

Rodrigues_F64

setTo(Rodrigues_F64 src)

void

setUnitAxisRotation(Vector3D_F64 unitAxisRotation)

String

toString()

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details
- unitAxisRotation
  
  public Vector3D_F64 unitAxisRotation
- theta
  
  public double theta
Constructor Details
- 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 Details
- setTo
  
  public Rodrigues_F64 setTo(Rodrigues_F64 src)
- getUnitAxisRotation
  
  public Vector3D_F64 getUnitAxisRotation()
- setUnitAxisRotation
  
  public void setUnitAxisRotation(Vector3D_F64 unitAxisRotation)
- 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 String toString()
  
  Overrides:
  
  toString in class Object