com.yobotics.simulationconstructionset.util.math.frames
Class YoFrameOrientation

java.lang.Object
  extended by com.yobotics.simulationconstructionset.util.math.frames.YoFrameOrientation

public class YoFrameOrientation
extends java.lang.Object


Constructor Summary
YoFrameOrientation(java.lang.String namePrefix, java.lang.String nameSuffix, us.ihmc.utilities.math.geometry.ReferenceFrame referenceFrame, YoVariableRegistry registry)
           
 
Method Summary
 void checkReferenceFrameMatch(us.ihmc.utilities.math.geometry.ReferenceFrame frame)
           
 boolean containsNaN()
           
 javax.vecmath.Vector3d getEulerAngles()
           
 void getEulerAngles(javax.vecmath.Vector3d eulerAnglesToPack)
           
 us.ihmc.utilities.math.geometry.Orientation getFrameOrientationCopy()
           
 DoubleYoVariable getPitch()
           
 us.ihmc.utilities.math.geometry.ReferenceFrame getReferenceFrame()
           
 DoubleYoVariable getRoll()
           
 DoubleYoVariable getYaw()
           
 double[] getYawPitchRoll()
           
 void interpolate(YoFrameOrientation orientationOne, YoFrameOrientation orientationTwo, double alpha)
           
 void set(us.ihmc.utilities.math.geometry.Orientation orientation)
           
 void set(YoFrameOrientation orientation)
           
 void setRotation(javax.media.j3d.Transform3D transform3D)
           
 void setYawPitchRoll(double yaw, double pitch, double roll)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

YoFrameOrientation

public YoFrameOrientation(java.lang.String namePrefix,
                          java.lang.String nameSuffix,
                          us.ihmc.utilities.math.geometry.ReferenceFrame referenceFrame,
                          YoVariableRegistry registry)
Method Detail

interpolate

public void interpolate(YoFrameOrientation orientationOne,
                        YoFrameOrientation orientationTwo,
                        double alpha)

getYawPitchRoll

public double[] getYawPitchRoll()

getYaw

public DoubleYoVariable getYaw()

getPitch

public DoubleYoVariable getPitch()

getRoll

public DoubleYoVariable getRoll()

getEulerAngles

public void getEulerAngles(javax.vecmath.Vector3d eulerAnglesToPack)

getEulerAngles

public javax.vecmath.Vector3d getEulerAngles()

setYawPitchRoll

public void setYawPitchRoll(double yaw,
                            double pitch,
                            double roll)

set

public void set(us.ihmc.utilities.math.geometry.Orientation orientation)

set

public void set(YoFrameOrientation orientation)

getFrameOrientationCopy

public us.ihmc.utilities.math.geometry.Orientation getFrameOrientationCopy()

checkReferenceFrameMatch

public void checkReferenceFrameMatch(us.ihmc.utilities.math.geometry.ReferenceFrame frame)

getReferenceFrame

public us.ihmc.utilities.math.geometry.ReferenceFrame getReferenceFrame()

setRotation

public void setRotation(javax.media.j3d.Transform3D transform3D)

containsNaN

public boolean containsNaN()