Package org.openbase.jul.processing

Class QuaternionEulerTransform

java.lang.Object

org.openbase.jul.processing.QuaternionEulerTransform

public class QuaternionEulerTransform
extends Object

Author:

Divine Threepwood

Field Summary

Fields

Modifier and Type	Field	Description
protected static 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 Detail

logger

protected static final org.slf4j.Logger logger

Constructor Detail

QuaternionEulerTransform

public QuaternionEulerTransform()

Method Detail

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