us.ihmc.utilities.math.geometry
Class CylindricalCoordinatesCalculator

java.lang.Object
  extended by us.ihmc.utilities.math.geometry.CylindricalCoordinatesCalculator

public class CylindricalCoordinatesCalculator
extends java.lang.Object

Author:
twan Date: 5/21/13

Constructor Summary
CylindricalCoordinatesCalculator()
           
 
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
 

Constructor Detail

CylindricalCoordinatesCalculator

public CylindricalCoordinatesCalculator()
Method Detail

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)