Package org.openbase.jul.processing

Class QuaternionEulerTransform

java.lang.Object
org.openbase.jul.processing.QuaternionEulerTransform
public class QuaternionEulerTransform extends Object

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    protected static final org.slf4j.Logger
    logger
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    QuaternionEulerTransform()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    static javax.vecmath.Quat4d
    transform(double roll, double pitch, double yaw)
    Conversion: By combining the quaternion representations of the Euler rotations we get for the Body 3-2-1 sequence, where the airplane first does yaw (Body-Z) turn during taxiing on the runway, then vector3d.yes (Body-Y) during take-off, and finally rolls (Body-X) in the air.
    static javax.vecmath.Vector3d
    transform(javax.vecmath.Quat4d quat4d)
    Conversion from quaternion to Euler rotation.
    static javax.vecmath.Quat4d
    transform(javax.vecmath.Vector3d vector3d)
     

    Methods inherited from class java.lang.Object

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

  • Field Details

    • logger

      protected static final org.slf4j.Logger logger

  • Constructor Details

    • QuaternionEulerTransform

      public QuaternionEulerTransform()

  • Method Details

    • transform

      public static javax.vecmath.Quat4d transform(double roll, double pitch, double yaw)
      Conversion: By combining the quaternion representations of the Euler rotations we get for the Body 3-2-1 sequence, where the airplane first does yaw (Body-Z) turn during taxiing on the runway, then vector3d.yes (Body-Y) during take-off, and finally rolls (Body-X) in the air. The resulting orientation of Body 3-2-1 sequence (around the capitalized axis in the illustration of Tait–Bryan angles) is equivalent to that of lab 1-2-3 sequence (around the lower-cased axis), where the airplane is rolled first (lab-x axis), and then nosed up around the horizontal lab-y axis, and finally rotated around the vertical lab-z axis:
      Parameters:
      roll - in radians
      pitch - in radians
      yaw - in radians
      Returns:
      quaternion

    • transform

      public static javax.vecmath.Quat4d transform(javax.vecmath.Vector3d vector3d)

    • transform

      public static javax.vecmath.Vector3d transform(javax.vecmath.Quat4d quat4d)
      Conversion from quaternion to Euler rotation. The x value fr
      Parameters:
      quat4d - the quaternion from which the euler rotation is computed.
      Returns:
      a vector with the mapping: x = roll, y = pitch, z = yaw