Package georegression.transform.twist

Class TwistCoordinate_F64

java.lang.Object

georegression.transform.twist.TwistCoordinate_F64

public class TwistCoordinate_F64
extends Object

Representation of a twist coordinate, which is se(3). The exponential is SE(3) or rigid body. A twist can be interpreted as a mapping of points from their initial coordinate to another coordinate after the rigid motion has been applied [1].

p(t) = exp(hat{ξ}*t)*p(0)
p'(t) = w × (p(t) -q)
v = -w × q
where ||w|| = 1, q in Re³ is a point on the axis. The point in a body undergoing a constant screw motion which traces helices.

[1] R. Murray, et. al. "A Mathematical Introduction to ROBOTIC MANIPULATION" 1994

Field Summary

Fields

Modifier and Type	Field	Description
Vector3D_F64	v	Translational component.
Vector3D_F64	w	Angular component in so(3).

Constructor Summary

Constructors

Constructor	Description
TwistCoordinate_F64()
TwistCoordinate_F64(double wx, double wy, double wz, double vx, double vy, double vz)
TwistCoordinate_F64(Vector3D_F64 w, Vector3D_F64 v)

Method Summary

Modifier and Type	Method	Description
void	print()
void	set(double wx, double wy, double wz, double vx, double vy, double vz)
void	set(TwistCoordinate_F64 original)
String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

w

public Vector3D_F64 w

Angular component in so(3). Does NOT need to be normalized to 1.

v

public Vector3D_F64 v

Translational component. Re³

Constructor Details

TwistCoordinate_F64

public TwistCoordinate_F64()

TwistCoordinate_F64

public TwistCoordinate_F64(double wx,
 double wy,
 double wz,
 double vx,
 double vy,
 double vz)

TwistCoordinate_F64

public TwistCoordinate_F64(Vector3D_F64 w,
 Vector3D_F64 v)

Method Details

set

public void set(double wx,
 double wy,
 double wz,
 double vx,
 double vy,
 double vz)

set

public void set(TwistCoordinate_F64 original)

print

public void print()

toString

public String toString()

Overrides:

toString in class Object