com.kuka.math.geometry
Class EulerZyxRotation

java.lang.Object
  com.kuka.math.geometry.AbstractRotation
      com.kuka.math.geometry.EulerZyxRotation

All Implemented Interfaces:

IRotation

public final class EulerZyxRotation
extends AbstractRotation

Immutable representation of a spatial rotation as Z-Y-X Euler angles, which are the same as X-Y-Z fixed angles.

Note: The angles α (alpha), β (beta), γ (gamma) are the same as the angles A, B, C in KUKA notation, respectively.

Note: The designations are the same as those used by J. J. Craig in "Introduction to Robotics".

Field Summary

static EulerZyxRotation

NONE Immutable EulerZyxRotation instance representing no rotation.

Method Summary

boolean	equals(Object obj)
double	getAlphaRad() Returns the α (alpha) angle of the rotation in [rad].
double	getBetaRad() Returns the β (beta) angle of the rotation in [rad].
double	getGammaRad() Returns the γ (gamma) angle of the rotation in [rad].
Matrix	getMatrix() Returns a matrix representing this rotation.
int	hashCode()
static EulerZyxRotation	of(IRotation orig) Returns an immutable instance from the values of the provided rotation.
static EulerZyxRotation	ofDeg(double alpha, double beta, double gamma) Returns an immutable EulerZyxRotation instance with the given angle values.
static EulerZyxRotation	ofRad(double alpha, double beta, double gamma) Returns an immutable EulerZyxRotation instance with the given angle values.
String	toString() Returns a textual description of the rotation.
String	toString(NumberFormat fmt) Returns a textual description of the rotation.
EulerZyxRotation	withAlphaRad(double value) Returns a new instance (copy) of the rotation, with the α (alpha) angle replaced by the new value.
EulerZyxRotation	withBetaRad(double value) Returns a new instance (copy) of the rotation, with the β (beta) angle replaced by the new value.
EulerZyxRotation	withGammaRad(double value) Returns a new instance (copy) of the rotation, with the γ (gamma) angle replaced by the new value.

Methods inherited from class com.kuka.math.geometry.AbstractRotation

applyTo, applyTo, compose, invert, rotationalDistanceTo, rotationTo

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

NONE

public static final EulerZyxRotation NONE

Immutable EulerZyxRotation instance representing no rotation.

Method Detail

ofRad

public static EulerZyxRotation ofRad(double alpha,
                                     double beta,
                                     double gamma)

Returns an immutable EulerZyxRotation instance with the given angle values.

Parameters:

alpha - the α (alpha) angle of the rotation in [rad]. Note: This is the same as the angle A in KUKA notation.

beta - the β (beta) angle of the rotation in [rad]. Note: This is the same as the angle B in KUKA notation.

gamma - the γ (gamma) angle of the rotation in [rad]. Note: This is the same as the angle C in KUKA notation.

Returns:

an immutable EulerZyxRotation instance

ofDeg

public static EulerZyxRotation ofDeg(double alpha,
                                     double beta,
                                     double gamma)

Returns an immutable EulerZyxRotation instance with the given angle values.

Parameters:

alpha - the α (alpha) angle of the rotation in degrees. Note: This is the same as the angle A in KUKA notation.

beta - the β (beta) angle of the rotation in degrees. Note: This is the same as the angle B in KUKA notation.

gamma - the γ (gamma) angle of the rotation in degrees. Note: This is the same as the angle C in KUKA notation.

Returns:

an immutable EulerZyxRotation instance

of

public static EulerZyxRotation of(IRotation orig)

Returns an immutable instance from the values of the provided rotation. The internal calculations have a limited precision.

Parameters:

orig - the instance from which to take over the rotation

Returns:

an immutable instance

getAlphaRad

public double getAlphaRad()

Returns the α (alpha) angle of the rotation in [rad].

Note: This is the same as the angle A in KUKA notation.

Returns:

the α (alpha) angle of the rotation in [rad].

getBetaRad

public double getBetaRad()

Returns the β (beta) angle of the rotation in [rad].

Note: This is the same as the angle B in KUKA notation.

Returns:

the β (beta) angle of the rotation in [rad].

getGammaRad

public double getGammaRad()

Returns the γ (gamma) angle of the rotation in [rad].

Note: This is the same as the angle C in KUKA notation.

Returns:

the γ (gamma) angle of the rotation in [rad].

getMatrix

public Matrix getMatrix()

Description copied from interface: IRotation

Returns a matrix representing this rotation. This is potentially a costly conversion.

Specified by:

getMatrix in interface IRotation

Specified by:

getMatrix in class AbstractRotation

Returns:

a Matrix representing this rotation. This is potentially a costly conversion

withAlphaRad

public EulerZyxRotation withAlphaRad(double value)

Returns a new instance (copy) of the rotation, with the α (alpha) angle replaced by the new value.

Parameters:

value - the α (alpha) angle of the rotation in [rad]. Note: This is the same as the angle A in KUKA notation.

Returns:

a new instance of the class

withBetaRad

public EulerZyxRotation withBetaRad(double value)

Returns a new instance (copy) of the rotation, with the β (beta) angle replaced by the new value.

Parameters:

value - the β (beta) angle of the rotation in [rad]. Note: This is the same as the angle B in KUKA notation.

Returns:

a new instance of the class

withGammaRad

public EulerZyxRotation withGammaRad(double value)

Returns a new instance (copy) of the rotation, with the γ (gamma) angle replaced by the new value.

Parameters:

value - the γ (gamma) angle of the rotation in [rad]. Note: This is the same as the angle C in KUKA notation.

Returns:

a new instance of the class

hashCode

public int hashCode()

Overrides:

hashCode in class Object

equals

public boolean equals(Object obj)

Overrides:

equals in class Object

toString

public String toString()

Returns a textual description of the rotation. The representation is subject to change.

This implementation will print all angle values in rad. The numerical values will be printed with the default format as returned by MathUtils.getDefaultNumberFormat(). The following string can be regarded as typical:

[A=0.0 B=3.14159 C=0.0]

Overrides:

toString in class AbstractRotation

Returns:

a textual description of the rotation with angle values in rad

toString

public String toString(NumberFormat fmt)

Returns a textual description of the rotation. The representation is subject to change.

This implementation will print all angle values in rad. The numerical values will be printed using the NumberFormat.format(double) method of the given formatter.

Example: The following code snippet, used on a given EulerZyxRotation rot

 NumberFormat fmt = NumberFormat.getNumberInstance(Locale.US);
 fmt.setMinimumFractionDigits(1);
 fmt.setMaximumFractionDigits(3);
 System.out.println(rot.toString(fmt));

might give the following output:

 [A=1.235 B=3.142 C=0.0]

Parameters:

fmt - the NumberFormat used to format the number values

Returns:

a textual description of the rotation with angle values in rad