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 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