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, ReferenceFrame referenceFrame, YoVariableRegistry registry)
           
YoFrameOrientation(java.lang.String namePrefix, java.lang.String nameSuffix, ReferenceFrame referenceFrame, YoVariableRegistry registry)
           
 
Method Summary
 void attachVariableChangedListener(VariableChangedListener variableChangedListener)
           
 void checkReferenceFrameMatch(ReferenceFrame frame)
           
 boolean containsNaN()
           
 javax.vecmath.Vector3d getEulerAngles()
           
 void getEulerAngles(javax.vecmath.Vector3d eulerAnglesToPack)
           
 void getFrameOrientation(FrameOrientation orientationToPack)
           
 FrameOrientation getFrameOrientationCopy()
           
 void getMatrix3d(javax.vecmath.Matrix3d rotationMatrixToPack)
           
 DoubleYoVariable getPitch()
           
 ReferenceFrame getReferenceFrame()
           
 DoubleYoVariable getRoll()
           
 DoubleYoVariable getYaw()
           
 double[] getYawPitchRoll()
           
 void interpolate(YoFrameOrientation orientationOne, YoFrameOrientation orientationTwo, double alpha)
           
 void set(FrameOrientation orientation)
           
 void set(javax.vecmath.Matrix3d rotation)
           
 void set(javax.vecmath.Quat4d quaternion)
           
 void set(YoFrameOrientation orientation)
           
 void setEulerAngles(javax.vecmath.Vector3d eulerAngles)
           
 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,
                          ReferenceFrame referenceFrame,
                          YoVariableRegistry registry)

YoFrameOrientation

public YoFrameOrientation(java.lang.String namePrefix,
                          java.lang.String nameSuffix,
                          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()

getMatrix3d

public void getMatrix3d(javax.vecmath.Matrix3d rotationMatrixToPack)

setEulerAngles

public void setEulerAngles(javax.vecmath.Vector3d eulerAngles)

setYawPitchRoll

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

set

public void set(javax.vecmath.Matrix3d rotation)

set

public void set(javax.vecmath.Quat4d quaternion)

set

public void set(FrameOrientation orientation)

set

public void set(YoFrameOrientation orientation)

getFrameOrientation

public void getFrameOrientation(FrameOrientation orientationToPack)

getFrameOrientationCopy

public FrameOrientation getFrameOrientationCopy()

checkReferenceFrameMatch

public void checkReferenceFrameMatch(ReferenceFrame frame)

getReferenceFrame

public ReferenceFrame getReferenceFrame()

setRotation

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

containsNaN

public boolean containsNaN()

attachVariableChangedListener

public void attachVariableChangedListener(VariableChangedListener variableChangedListener)