agi.foundation.coordinates

(agi.foundation.core-2024r3.jar)

Class YawPitchRoll

java.lang.Object

agi.foundation.coordinates.YawPitchRoll

All Implemented Interfaces:

IEquatable<YawPitchRoll>, ImmutableValueType, ValueType, IEquatableEpsilon<YawPitchRoll>

public final class YawPitchRoll
extends Object
implements IEquatable<YawPitchRoll>, IEquatableEpsilon<YawPitchRoll>, ImmutableValueType

Represents a rotation as a sequence of three ElementaryRotations about a reference set of axes. The orientation and associated set of axes which result from the first elementary rotation are modified by a second elementary rotation, again performed about the original reference set of axes. Likewise, the third elementary rotation is performed about the original reference set of axes to further modify the orientation. This differs from an EulerSequence where the sequence of rotations are performed about the consecutive set of axes which result from the successive elementary rotations.

To obtain the yaw (heading), pitch (elevation), and roll (bank) orientation of the vehicle body axis relative to a local North-East-Down axes of the vehicle as a series of consecutive elementary rotations, use a 321 EulerSequence.

See Also:

AngleAxisRotation, ElementaryRotation, EulerSequence, Matrix3By3, Quaternion, UnitQuaternion

Constructor Summary

Constructors

Constructor and Description
YawPitchRoll() Initializes a new instance.
YawPitchRoll(AngleAxisRotation rotation, YawPitchRollIndicator sequence) Initializes a EulerSequence sequence from the provided AngleAxisRotation and sequence.
YawPitchRoll(double angle1, double angle2, double angle3, YawPitchRollIndicator sequence) Initializes a YawPitchRoll sequence from the provided angles and sequence.
YawPitchRoll(ElementaryRotation firstRotation, ElementaryRotation secondRotation, ElementaryRotation thirdRotation) Initializes a YawPitchRoll sequence from the provided ElementaryRotation instances.
YawPitchRoll(EulerSequence sequence) Initializes a YawPitchRoll sequence from the provided EulerSequence.
YawPitchRoll(Matrix3By3 matrix, YawPitchRollIndicator sequence) Initializes a YawPitchRoll sequence from the provided Matrix3By3 and sequence.
YawPitchRoll(UnitQuaternion quaternion, YawPitchRollIndicator sequence) Initializes a YawPitchRoll sequence from the provided UnitQuaternion and sequence.

Method Summary

Modifier and Type	Method and Description
boolean	equals(Object obj) Indicates whether another object is exactly equal to this instance.
static boolean	equals(YawPitchRoll left, YawPitchRoll right) Returns true if the two instances are exactly equal.
boolean	equalsEpsilon(YawPitchRoll other, double epsilon) Returns true if all of the elements of this quaternion are within epsilon of the same elements of the specified quaternion.
boolean	equalsType(YawPitchRoll other) Indicates whether another instance of this type is exactly equal to this instance.
static AxisIndicator	firstAxis(YawPitchRollIndicator sequence) Determines the first axis indicator from the provided YawPitchRollIndicator.
ElementaryRotation	getFirstRotation() Gets the first rotation.
ElementaryRotation	getSecondRotation() Gets the second rotation.
YawPitchRollIndicator	getSequence() Gets the order of the axes rotations for this instance.
ElementaryRotation	getThirdRotation() Gets the third rotation.
int	hashCode() Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.
static YawPitchRollIndicator	indicator(AxisIndicator first, AxisIndicator second, AxisIndicator third) Composes a YawPitchRollIndicator from three individual AxisIndicator items.
YawPitchRoll	invert() Inverts this instance, yielding a new YawPitchRoll sequence.
static boolean	notEquals(YawPitchRoll left, YawPitchRoll right) Returns true if the two instances are not exactly equal.
static AxisIndicator	secondAxis(YawPitchRollIndicator sequence) Determines the second axis indicator from the provided YawPitchRollIndicator.
static AxisIndicator	thirdAxis(YawPitchRollIndicator sequence) Determines the third axis indicator from the provided YawPitchRollIndicator.
String	toString() Returns the value of this set of YawPitchRoll coordinates in the form "first rotation, second rotation, third rotation"

Methods inherited from class java.lang.Object

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

Constructor Detail

YawPitchRoll

public YawPitchRoll()

Initializes a new instance.

YawPitchRoll

public YawPitchRoll(double angle1,
                    double angle2,
                    double angle3,
                    @Nonnull
                    YawPitchRollIndicator sequence)

Initializes a YawPitchRoll sequence from the provided angles and sequence.

Parameters:

angle1 - The first angle.

angle2 - The second angle.

angle3 - The third angle.

sequence - The sequence.

YawPitchRoll

public YawPitchRoll(@Nonnull
                    ElementaryRotation firstRotation,
                    @Nonnull
                    ElementaryRotation secondRotation,
                    @Nonnull
                    ElementaryRotation thirdRotation)

Initializes a YawPitchRoll sequence from the provided ElementaryRotation instances.

Parameters:

firstRotation - The first rotation.

secondRotation - The second rotation.

thirdRotation - The third rotation.

YawPitchRoll

public YawPitchRoll(@Nonnull
                    EulerSequence sequence)

Initializes a YawPitchRoll sequence from the provided EulerSequence.

Parameters:

sequence - The Euler sequence.

YawPitchRoll

public YawPitchRoll(@Nonnull
                    Matrix3By3 matrix,
                    @Nonnull
                    YawPitchRollIndicator sequence)

Initializes a YawPitchRoll sequence from the provided Matrix3By3 and sequence.

Note that the matrix must be an orthogonal rotation matrix.

Parameters:

matrix - The orthogonal rotation matrix.

sequence - The sequence.

YawPitchRoll

public YawPitchRoll(@Nonnull
                    UnitQuaternion quaternion,
                    @Nonnull
                    YawPitchRollIndicator sequence)

Initializes a YawPitchRoll sequence from the provided UnitQuaternion and sequence.

Parameters:

quaternion - The unit quaternion.

sequence - The sequence.

YawPitchRoll

public YawPitchRoll(@Nonnull
                    AngleAxisRotation rotation,
                    @Nonnull
                    YawPitchRollIndicator sequence)

Initializes a EulerSequence sequence from the provided AngleAxisRotation and sequence.

Parameters:

rotation - The rotation.

sequence - The sequence.

Method Detail

indicator

@Nonnull
public static YawPitchRollIndicator indicator(@Nonnull
                                                        AxisIndicator first,
                                                        @Nonnull
                                                        AxisIndicator second,
                                                        @Nonnull
                                                        AxisIndicator third)

Composes a YawPitchRollIndicator from three individual AxisIndicator items.

Parameters:

first - The first axis of rotation.

second - The second axis of rotation.

third - The third axis of rotation.

Returns:

The indicator.

firstAxis

@Nonnull
public static AxisIndicator firstAxis(@Nonnull
                                                YawPitchRollIndicator sequence)

Determines the first axis indicator from the provided YawPitchRollIndicator.

Parameters:

sequence - The order of the axes of rotation.

Returns:

The first axis indicator.

secondAxis

@Nonnull
public static AxisIndicator secondAxis(@Nonnull
                                                 YawPitchRollIndicator sequence)

Determines the second axis indicator from the provided YawPitchRollIndicator.

Parameters:

sequence - The order of the axes of rotation.

Returns:

The second axis indicator.

thirdAxis

@Nonnull
public static AxisIndicator thirdAxis(@Nonnull
                                                YawPitchRollIndicator sequence)

Determines the third axis indicator from the provided YawPitchRollIndicator.

Parameters:

sequence - The order of the axes of rotation.

Returns:

The third axis indicator.

getFirstRotation

@Nonnull
public final ElementaryRotation getFirstRotation()

Gets the first rotation.

getSecondRotation

@Nonnull
public final ElementaryRotation getSecondRotation()

Gets the second rotation.

getThirdRotation

@Nonnull
public final ElementaryRotation getThirdRotation()

Gets the third rotation.

getSequence

@Nonnull
public final YawPitchRollIndicator getSequence()

Gets the order of the axes rotations for this instance.

invert

@Nonnull
public final YawPitchRoll invert()

Inverts this instance, yielding a new YawPitchRoll sequence.

Returns:

The inverted YawPitchRoll.

equals

public boolean equals(Object obj)

Indicates whether another object is exactly equal to this instance.

Overrides:

equals in class Object

Parameters:

obj - The object to compare to this instance.

Returns:

true if obj is an instance of this type and represents the same value as this instance; otherwise false.

See Also:

Object.hashCode(), HashMap

equalsType

public final boolean equalsType(@Nonnull
                                YawPitchRoll other)

Indicates whether another instance of this type is exactly equal to this instance.

Specified by:

equalsType in interface IEquatable<YawPitchRoll>

Parameters:

other - The instance to compare to this instance.

Returns:

true if other represents the same value as this instance; otherwise false.

equalsEpsilon

public final boolean equalsEpsilon(@Nonnull
                                   YawPitchRoll other,
                                   double epsilon)

Returns true if all of the elements of this quaternion are within epsilon of the same elements of the specified quaternion. That is, in order for the quaternions to be considered equal (and for this function to return true), the absolute value of the difference between each of their elements must be less than or equal to epsilon.

Specified by:

equalsEpsilon in interface IEquatableEpsilon<YawPitchRoll>

Parameters:

other - The Quaternion to compare to this quaternion.

epsilon - The largest difference between the elements of the quaternions for which they will be considered equal.

Returns:

true if the quaternions are equal as defined by the epsilon value.

hashCode

public int hashCode()

Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.

Overrides:

hashCode in class Object

Returns:

A hash code for the current object.

See Also:

Object.equals(java.lang.Object), System.identityHashCode(java.lang.Object)

toString

public String toString()

Returns the value of this set of YawPitchRoll coordinates in the form "first rotation, second rotation, third rotation"

Overrides:

toString in class Object

Returns:

The string.

equals

public static boolean equals(@Nonnull
                             YawPitchRoll left,
                             @Nonnull
                             YawPitchRoll right)

Returns true if the two instances are exactly equal.

Parameters:

left - The instance to compare to right.

right - The instance to compare to left.

Returns:

true if left represents the same value as right; otherwise false.

notEquals

public static boolean notEquals(@Nonnull
                                YawPitchRoll left,
                                @Nonnull
                                YawPitchRoll right)

Returns true if the two instances are not exactly equal.

Parameters:

left - The instance to compare to right.

right - The instance to compare to left.

Returns:

true if left does not represent the same value as right; otherwise false.