cz.cuni.amis.pogamut.base3d.worldview.object
Class Rotation

java.lang.Object
  cz.cuni.amis.pogamut.base3d.worldview.object.Rotation

All Implemented Interfaces:

IRotable, Serializable, Cloneable

public class Rotation
extends Object
implements IRotable, Serializable, Cloneable

Rotation within the world. Rotation is represented as yaw, roll and pitch. FIXME[js]: Add working methods and consider imports from Tuple3d.

Author:

Juraj 'Loque' Simlovic, Radek 'Black_Hand' Pibil

See Also:

Serialized Form

Nested Class Summary

static class	Rotation.Order Used for conversions in from Location into Rotation and vice versa
static class	Rotation.PropertyEditor Property editor for Rotation.

Field Summary

static Rotation	NONE Rotation representing NONE.
double	pitch Rotation pitch.
double	roll Rotation roll.
static Pattern	rotationPattern Pattern used to parse toString() in Rotation(String).
double	yaw Rotation yaw.
static Rotation	ZERO Rotation(0,0,0);

Constructor Summary

Rotation(double pitch, double yaw, double roll)
Creates rotation with specified values.

Rotation(Rotation rotation)
Copy constructor.

Rotation(String string)
Parses the location from the "string" generated by toString().

Method Summary

Rotation	clone()
static javax.vecmath.Matrix3d	constructXYRot(double angle) Useful methods from Rotation->Location conversions.
static javax.vecmath.Matrix3d	constructXZRot(double angle) Useful methods from Rotation->Location conversions.
static javax.vecmath.Matrix3d	constructYZRot(double angle) Useful methods from Rotation->Location conversions.
static boolean	equal(Rotation r1, Rotation r2) Tells, whether two given rotations equal.
boolean	equals(Object obj) Tells, whether this objects equals to given rotation.
static double	ExpInterp(double a, double b, double alpha) Exponentially interpolates between 2 doubles with alpha as strength.
double	getPitch() Rotation pitch.
javax.vecmath.Point3d	getPoint3d() Retreives javax.vecmath.Point3d representation of the rotation.
double	getRoll() Rotation roll.
Rotation	getRotation() Retreives the rotation itself to implement IRotable.
double	getYaw() Rotation yaw.
int	hashCode() Generates a hashcode for this Rotation.
static double	LinearInterp(double a, double b, double alpha) Linearly interpolates between 2 doubles with alpha as strength.
static double	LogInterp(double a, double b, double alpha) Logarithmically interpolates between 2 doubles with alpha as strength.
Rotation	RotationExpInterp(Rotation b, double alpha) Exponentially interpolates between 2 rotations with alpha as strength.
static Rotation	RotationExpInterp(Rotation a, Rotation b, double alpha) Exponentially interpolates between 2 rotations with alpha as strength.
Rotation	RotationLinearInterp(Rotation b, double alpha) Linearly interpolates between 2 rotations with alpha as strength.
static Rotation	RotationLinearInterp(Rotation a, Rotation b, double alpha) Linearly interpolates between 2 rotations with alpha as strength.
Rotation	RotationLogInterp(Rotation b, double alpha) Logarithmically interpolates between 2 rotations with alpha as strength.
static Rotation	RotationLogInterp(Rotation a, Rotation b, double alpha) Logarithmically interpolates between 2 rotations with alpha as strength.
Rotation	setPitch(double pitch) Sets the pitch.
Rotation	setRoll(double roll) Sets the roll.
Rotation	setYaw(double yaw) Sets the yaw.
Location	toLocation() Converts this Rotation into Location.
Location	toLocation(Rotation.Order order) Converts this Rotation into Location.
String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

NONE

public static final Rotation NONE

Rotation representing NONE.

ZERO

public static final Rotation ZERO

Rotation(0,0,0);

yaw

public final double yaw

Rotation yaw. Yaw is rotation to the left or right. E.g. turn left. The value ranges from -32768..32767.

roll

public final double roll

Rotation roll. Roll is twist of head. E.g. Tilt the head to shoulder. The value ranges from -32768..32767.

pitch

public final double pitch

Rotation pitch. Pitch is rotation up and down. E.g. look down. The value ranges from -32768..32767.

rotationPattern

public static final Pattern rotationPattern

Pattern used to parse toString() in Rotation(String).

Constructor Detail

Rotation

public Rotation(double pitch,
                double yaw,
                double roll)

Creates rotation with specified values.

Parameters:

yaw - Rotation yaw. Yaw is rotation to the left or right.

roll - Rotation roll. Roll is twist of head. E.g. Tilt the head to shoulder.

pitch - Rotation pitch. Pitch is rotation up and down.

Rotation

public Rotation(Rotation rotation)

Copy constructor.

Parameters:

rotation - Rotation.

Rotation

public Rotation(String string)

Parses the location from the "string" generated by toString(). If it fails, it throws RuntimeException.

Parameters:

string -

Method Detail

clone

public Rotation clone()

Overrides:

clone in class Object

getYaw

public double getYaw()

Rotation yaw. Yaw is rotation to the left or right. E.g. turn left.

Returns:

Rotation yaw. The value ranges from -32768..32767.

getPitch

public double getPitch()

Rotation pitch. Pitch is rotation up and down. E.g. look down.

Returns:

Rotation pitch. The value ranges from -32768..32767.

getRoll

public double getRoll()

Rotation roll. Roll is twist of head. E.g. Tilt the head to shoulder.

Returns:

Rotation roll. The value ranges from -32768..32767.

getRotation

public Rotation getRotation()

Retreives the rotation itself to implement IRotable.

Specified by:

getRotation in interface IRotable

Returns:

The rotation itself (note: does not create a copy).

getPoint3d

public javax.vecmath.Point3d getPoint3d()

Retreives javax.vecmath.Point3d representation of the rotation.

Returns:

javax.vecmath.Point3d representation with x, y and z values set.

LinearInterp

public static final double LinearInterp(double a,
                                        double b,
                                        double alpha)

Linearly interpolates between 2 doubles with alpha as strength. That is how close from a to be the interpolation proceeds.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated value

LogInterp

public static final double LogInterp(double a,
                                     double b,
                                     double alpha)

Logarithmically interpolates between 2 doubles with alpha as strength. That is how close from a to be the interpolation proceeds.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated value

ExpInterp

public static final double ExpInterp(double a,
                                     double b,
                                     double alpha)

Exponentially interpolates between 2 doubles with alpha as strength. That is how close from a to be the interpolation proceeds.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated value

RotationLinearInterp

public static final Rotation RotationLinearInterp(Rotation a,
                                                  Rotation b,
                                                  double alpha)

Linearly interpolates between 2 rotations with alpha as strength. That is how close from a to be the interpolation proceeds. Static version.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated rotation

RotationLinearInterp

public final Rotation RotationLinearInterp(Rotation b,
                                           double alpha)

Linearly interpolates between 2 rotations with alpha as strength. That is how close from a to be the interpolation proceeds. Dynamic version.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated rotation

RotationLogInterp

public static final Rotation RotationLogInterp(Rotation a,
                                               Rotation b,
                                               double alpha)

Logarithmically interpolates between 2 rotations with alpha as strength. That is how close from a to be the interpolation proceeds. Static version.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated rotation

RotationLogInterp

public final Rotation RotationLogInterp(Rotation b,
                                        double alpha)

Logarithmically interpolates between 2 rotations with alpha as strength. That is how close from a to be the interpolation proceeds. Dynamic version.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated rotation

RotationExpInterp

public static final Rotation RotationExpInterp(Rotation a,
                                               Rotation b,
                                               double alpha)

Exponentially interpolates between 2 rotations with alpha as strength. That is how close from a to be the interpolation proceeds. Static version.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated rotation

RotationExpInterp

public final Rotation RotationExpInterp(Rotation b,
                                        double alpha)

Exponentially interpolates between 2 rotations with alpha as strength. That is how close from a to be the interpolation proceeds. Dynamic version.

Parameters:

a - start

b - target

alpha - strength

Returns:

interpolated rotation

hashCode

public int hashCode()

Generates a hashcode for this Rotation.

Overrides:

hashCode in class Object

equals

public boolean equals(Object obj)

Tells, whether this objects equals to given rotation.

Overrides:

equals in class Object

Parameters:

obj - Object to be compared with.

Returns:

True, if the object is an instance of rotation has the same values of all three corresponding values.

equal

public static boolean equal(Rotation r1,
                            Rotation r2)

Tells, whether two given rotations equal.

Parameters:

r1 - First rotation to comapre.

r2 - Second rotation to comapre.

Returns:

True, if the locations have the same values of all three corresponding coordinates.

toString

public String toString()

Overrides:

toString in class Object

toLocation

public Location toLocation()

Converts this Rotation into Location. Using default order.

Returns:

converted Rotation into Location using yaw roll pitch order

toLocation

public Location toLocation(Rotation.Order order)

Converts this Rotation into Location.

Parameters:

order - order of rotations should the method use

Returns:

converted Rotation into Location

constructYZRot

public static javax.vecmath.Matrix3d constructYZRot(double angle)

Useful methods from Rotation->Location conversions. Constructs rotation in YZ plane (~ ROLL).

Parameters:

angle -

Returns:

projection Matrix3d

constructXZRot

public static javax.vecmath.Matrix3d constructXZRot(double angle)

Useful methods from Rotation->Location conversions. Constructs rotation in XZ plane (~ PITCH).

Parameters:

angle - in radians

Returns:

projection Matrix3d

constructXYRot

public static javax.vecmath.Matrix3d constructXYRot(double angle)

Useful methods from Rotation->Location conversions. Constructs rotation in XY plane (~ YAW).

Parameters:

angle - in radians

Returns:

projection Matrix3d

setYaw

public Rotation setYaw(double yaw)

Sets the yaw.

Returns:

new rotation object

setPitch

public Rotation setPitch(double pitch)

Sets the pitch.

Returns:

new rotation object

setRoll

public Rotation setRoll(double roll)

Sets the roll.

Returns:

new rotation object