us.ihmc.utilities.math.geometry
Class CylindricalCoordinatesCalculator
java.lang.Object
us.ihmc.utilities.math.geometry.CylindricalCoordinatesCalculator
public class CylindricalCoordinatesCalculator
- extends java.lang.Object
- Author:
- twan
Date: 5/21/13
Method Summary |
static void |
getAcceleration(FrameVector accelerationToPack,
ReferenceFrame frame,
double angle,
double angleDot,
double angleDDot,
double radius,
double radiusDot,
double radiusDDot,
double zDDot)
|
static double |
getAngle(FramePoint position)
|
static double |
getAngularVelocity(FramePoint position,
FrameVector velocity)
|
FramePose |
getPoseFromCylindricalCoordinates(RobotSide robotSide,
ReferenceFrame frame,
double radiansFromYAxis,
double radius,
double z,
double outwardRotation,
double pitchRotation)
|
static void |
getPosition(FramePoint pointToPack,
ReferenceFrame frame,
double angle,
double radius,
double z)
|
static double |
getRadialVelocity(FramePoint position,
FrameVector velocity)
|
static double |
getRadius(FramePoint position)
|
static void |
getVelocity(FrameVector velocityToPack,
ReferenceFrame frame,
double angle,
double angleDot,
double radius,
double radiusDot,
double zDot)
|
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
CylindricalCoordinatesCalculator
public CylindricalCoordinatesCalculator()
getPoseFromCylindricalCoordinates
public FramePose getPoseFromCylindricalCoordinates(RobotSide robotSide,
ReferenceFrame frame,
double radiansFromYAxis,
double radius,
double z,
double outwardRotation,
double pitchRotation)
getPosition
public static void getPosition(FramePoint pointToPack,
ReferenceFrame frame,
double angle,
double radius,
double z)
getVelocity
public static void getVelocity(FrameVector velocityToPack,
ReferenceFrame frame,
double angle,
double angleDot,
double radius,
double radiusDot,
double zDot)
getAcceleration
public static void getAcceleration(FrameVector accelerationToPack,
ReferenceFrame frame,
double angle,
double angleDot,
double angleDDot,
double radius,
double radiusDot,
double radiusDDot,
double zDDot)
getRadius
public static double getRadius(FramePoint position)
getAngle
public static double getAngle(FramePoint position)
getRadialVelocity
public static double getRadialVelocity(FramePoint position,
FrameVector velocity)
getAngularVelocity
public static double getAngularVelocity(FramePoint position,
FrameVector velocity)