cz.cuni.amis.pogamut.base3d.worldview.object
Class Rotation

java.lang.Object
  cz.cuni.amis.pogamut.base3d.worldview.object.Rotation

All Implemented Interfaces:

IRotable, java.io.Serializable, java.lang.Cloneable

public class Rotation
extends java.lang.Object
implements IRotable, java.io.Serializable, java.lang.Cloneable

Rotation within the world. Rotation is represented as yaw, roll and pitch. FIXME[js]: Add working methods and consider imports from Tuple3d.

See Also:

Serialized Form

Nested Class Summary

static class	Rotation.Order Used for conversions in from Location into Rotation and vice versa
static class	Rotation.PropertyEditor Property editor for Rotation.

Field Summary

double	pitch Rotation pitch.
double	roll Rotation roll.
double	yaw Rotation yaw.

Constructor Summary

Rotation()
Creates rotation with all values set to zeroes.

Rotation(double pitch, double yaw, double roll)
Creates rotation with specified values.

Rotation(Rotation rotation)
Copy constructor.

Method Summary

Rotation	clone()
static Matrix3d	constructXYRot(double angle) Useful methods from Rotation->Location conversions.
static Matrix3d	constructXZRot(double angle) Useful methods from Rotation->Location conversions.
static Matrix3d	constructYZRot(double angle) Useful methods from Rotation->Location conversions.
static double	ExpInterp(double a, double b, double alpha) Exponentially interpolates between 2 doubles with alpha as strength.
double	getPitch() Rotation pitch.
Point3d	getPoint3d() Retreives javax.vecmath.Point3d representation of the rotation.
double	getRoll() Rotation roll.
Rotation	getRotation() Retreives the rotation itself to implement IRotable.
double	getYaw() Rotation yaw.
static double	LinearInterp(double a, double b, double alpha) Linearly interpolates between 2 doubles with alpha as strength.
static double	LogInterp(double a, double b, double alpha) Logarithmically interpolates between 2 doubles with alpha as strength.
Rotation	RotationExpInterp(Rotation b, double alpha) Exponentially interpolates between 2 rotations with alpha as strength.
static Rotation	RotationExpInterp(Rotation a, Rotation b, double alpha) Exponentially interpolates between 2 rotations with alpha as strength.
Rotation	RotationLinearInterp(Rotation b, double alpha) Linearly interpolates between 2 rotations with alpha as strength.
static Rotation	RotationLinearInterp(Rotation a, Rotation b, double alpha) Linearly interpolates between 2 rotations with alpha as strength.
Rotation	RotationLogInterp(Rotation b, double alpha) Logarithmically interpolates between 2 rotations with alpha as strength.
static Rotation	RotationLogInterp(Rotation a, Rotation b, double alpha) Logarithmically interpolates between 2 rotations with alpha as strength.
Rotation	setTo(double pitch, double yaw, double roll) Set this rotation to passed values.
Rotation	setTo(Rotation r) Set this rotation to values from r.
Location	toLocation() Converts this Rotation into Location.
Location	toLocation(Rotation.Order order) Converts this Rotation into Location.
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

yaw

public double yaw

Rotation yaw. Yaw is rotation to the left or right. E.g. turn left. The value ranges from -32768..32767.

roll

public double roll

Rotation roll. Roll is twist of head. E.g. Tilt the head to shoulder. The value ranges from -32768..32767.

pitch

public double pitch

Rotation pitch. Pitch is rotation up and down. E.g. look down. The value ranges from -32768..32767.

Constructor Detail

Rotation

public Rotation()

Creates rotation with all values set to zeroes.

Rotation

public Rotation(double pitch,
                double yaw,
                double roll)

Creates rotation with specified values.

Parameters:

yaw - Rotation yaw.

roll - Rotation roll.

pitch - Rotation pitch.

Rotation

public Rotation(Rotation rotation)

Copy constructor.

Parameters:

rotation - Rotation.

Method Detail

clone

public Rotation clone()

Overrides:

clone in class java.lang.Object

getYaw

public double getYaw()

Rotation yaw. Yaw is rotation to the left or right. E.g. turn left.

Returns:

Rotation yaw. The value ranges from -32768..32767.

getPitch

public double getPitch()

Rotation pitch. Pitch is rotation up and down. E.g. look down.

Returns:

Rotation pitch. The value ranges from -32768..32767.

getRoll

public double getRoll()

Rotation roll. Roll is twist of head. E.g. Tilt the head to shoulder.

Returns:

Rotation roll. The value ranges from -32768..32767.

getRotation

public Rotation getRotation()

Retreives the rotation itself to implement IRotable.

Specified by:

getRotation in interface IRotable

Returns:

The rotation itself (note: does not create a copy).

getPoint3d

public Point3d getPoint3d()

Retreives javax.vecmath.Point3d representation of the rotation.

Returns:

javax.vecmath.Point3d representation with x, y and z values set.

LinearInterp

public static final double LinearInterp(double a,
                                        double b,
                                        double alpha)

Linearly interpolates between 2 doubles with alpha as strength. That is how close from a to be the interpolation proceeds.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated value

LogInterp

public static final double LogInterp(double a,
                                     double b,
                                     double alpha)

Logarithmically interpolates between 2 doubles with alpha as strength. That is how close from a to be the interpolation proceeds.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated value

ExpInterp

public static final double ExpInterp(double a,
                                     double b,
                                     double alpha)

Exponentially interpolates between 2 doubles with alpha as strength. That is how close from a to be the interpolation proceeds.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated value

RotationLinearInterp

public static final Rotation RotationLinearInterp(Rotation a,
                                                  Rotation b,
                                                  double alpha)

Linearly interpolates between 2 rotations with alpha as strength. That is how close from a to be the interpolation proceeds. Static version.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated rotation

RotationLinearInterp

public final Rotation RotationLinearInterp(Rotation b,
                                           double alpha)

Linearly interpolates between 2 rotations with alpha as strength. That is how close from a to be the interpolation proceeds. Dynamic version.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated rotation

RotationLogInterp

public static final Rotation RotationLogInterp(Rotation a,
                                               Rotation b,
                                               double alpha)

Logarithmically interpolates between 2 rotations with alpha as strength. That is how close from a to be the interpolation proceeds. Static version.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated rotation

RotationLogInterp

public final Rotation RotationLogInterp(Rotation b,
                                        double alpha)

Logarithmically interpolates between 2 rotations with alpha as strength. That is how close from a to be the interpolation proceeds. Dynamic version.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated rotation

RotationExpInterp

public static final Rotation RotationExpInterp(Rotation a,
                                               Rotation b,
                                               double alpha)

Exponentially interpolates between 2 rotations with alpha as strength. That is how close from a to be the interpolation proceeds. Static version.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated rotation

RotationExpInterp

public final Rotation RotationExpInterp(Rotation b,
                                        double alpha)

Exponentially interpolates between 2 rotations with alpha as strength. That is how close from a to be the interpolation proceeds. Dynamic version.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated rotation

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

toLocation

public Location toLocation()

Converts this Rotation into Location. Using default order.

Returns:

converted Rotation into Location using yaw roll pitch order

toLocation

public Location toLocation(Rotation.Order order)

Converts this Rotation into Location.

Parameters:

order - order of rotations should the method use

Returns:

converted Rotation into Location

constructYZRot

public static Matrix3d constructYZRot(double angle)

Useful methods from Rotation->Location conversions. Constructs rotation in YZ plane.

Parameters:

angle -

Returns:

projection Matrix3d

constructXZRot

public static Matrix3d constructXZRot(double angle)

Useful methods from Rotation->Location conversions. Constructs rotation in XZ plane.

Parameters:

angle -

Returns:

projection Matrix3d

constructXYRot

public static Matrix3d constructXYRot(double angle)

Useful methods from Rotation->Location conversions. Constructs rotation in XY plane.

Parameters:

angle -

Returns:

projection Matrix3d

setTo

public Rotation setTo(Rotation r)

Set this rotation to values from r.

Parameters:

r - rotation from which we copy data

Returns:

this rotation after data has been set to r

setTo

public Rotation setTo(double pitch,
                      double yaw,
                      double roll)

Set this rotation to passed values.

Parameters:

pitch - new pitch

yaw - new yaw

roll - new roll

Returns:

this rotation after data has been set