SRM

Class OrientationTaitBryanAngles

java.lang.Object

SRM.Orientation

SRM.OrientationTaitBryanAngles

All Implemented Interfaces:

Cloneable

public class OrientationTaitBryanAngles
extends Orientation

The concrete class for the orientation in Tait-Bryan Angles representation.

See Also:

Orientation

Field Summary

Fields inherited from class SRM.Orientation

epsilon

Constructor Summary

Constructors

Constructor and Description
OrientationTaitBryanAngles() Default constructor.
OrientationTaitBryanAngles(double roll, double pitch, double yaw) Constructor using roll, pitch, and yaw pamameters
OrientationTaitBryanAngles(SRM_Tait_Bryan_Angles_Params params) Constructor using Tait-Bryan Angles parameter

Method Summary

Methods

Modifier and Type	Method and Description
protected void	_updateIntData() the virtual function to convert the data from native representation to the internal representation
protected void	_updateRepData() the virtual function to convert the data from internal representation to the native representation
static OrientationTaitBryanAngles	compose(Orientation left, Orientation right) Composes the right orientation with the left orientation and returns the result in the output orientation, i.e., composed_ori = left*right.
SRM_Ori_Rep	getOriRep() Returns the native orientation representation type.
SRM_Tait_Bryan_Angles_Params	getTaitBryanAngles() Gets the Tait-Bryan Angles orientation representation
void	setTaitBryanAngles(SRM_Tait_Bryan_Angles_Params params) Sets the Tait-Bryan Angles orientation representation
String	toString() Returns the string for the Tait-Bryan Angles orientation representation

Methods inherited from class SRM.Orientation

_get_internal_data_is_current, _get_matrix_base_unch, _get_matrix_base, _set_internal_data_is_current, _set_matrix_base, equivalence, equivalence, getAxisAngle, getEulerAnglesZXZ, getMatrix3x3, getQuaternion, isEqual, setAxisAngle, setAxisAngle, setEulerAnglesZXZ, setEulerAnglesZXZ, setMatrix3x3, setMatrix3x3, setQuaternion, setQuaternion, setTaitBryanAngles, transformVector

Methods inherited from class java.lang.Object

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

Constructor Detail

OrientationTaitBryanAngles

public OrientationTaitBryanAngles()

Default constructor. The default value is (0, 0, 0).

OrientationTaitBryanAngles

public OrientationTaitBryanAngles(SRM_Tait_Bryan_Angles_Params params)
                           throws SrmException

Constructor using Tait-Bryan Angles parameter

Throws:

SrmException

OrientationTaitBryanAngles

public OrientationTaitBryanAngles(double roll,
                          double pitch,
                          double yaw)
                           throws SrmException

Constructor using roll, pitch, and yaw pamameters

Parameters:

roll - in: the roll angle in radians

pitch - in: the pitch angle in radians

yaw - in: the yaw angle in radians

Throws:

SrmException

Method Detail

getTaitBryanAngles

public SRM_Tait_Bryan_Angles_Params getTaitBryanAngles()

Gets the Tait-Bryan Angles orientation representation

Overrides:

getTaitBryanAngles in class Orientation

setTaitBryanAngles

public void setTaitBryanAngles(SRM_Tait_Bryan_Angles_Params params)
                        throws SrmException

Sets the Tait-Bryan Angles orientation representation

Overrides:

setTaitBryanAngles in class Orientation

Throws:

This - method throws srm::Exception

SrmException

toString

public String toString()

Returns the string for the Tait-Bryan Angles orientation representation

Specified by:

toString in class Orientation

getOriRep

public SRM_Ori_Rep getOriRep()

Returns the native orientation representation type.

Specified by:

getOriRep in class Orientation

compose

public static OrientationTaitBryanAngles compose(Orientation left,
                                 Orientation right)
                                          throws SrmException

Composes the right orientation with the left orientation and returns the result in the output orientation, i.e., composed_ori = left*right.

Throws:

SrmException

_updateIntData

protected void _updateIntData()

Description copied from class: Orientation

the virtual function to convert the data from native representation to the internal representation

Specified by:

_updateIntData in class Orientation

_updateRepData

protected void _updateRepData()

Description copied from class: Orientation

the virtual function to convert the data from internal representation to the native representation

Specified by:

_updateRepData in class Orientation