DtTaitBryans are used to represent orientation of an object, using a set of three Euler angles. More...

Inheritance diagram for com.mak.vrlj.math.TaitBryan:

Collaboration diagram for com.mak.vrlj.math.TaitBryan:

Public Member Functions
	TaitBryan ()
	Default constructor.
	TaitBryan (ConstTaitBryan other)
	Copy constructor.
	TaitBryan (double psi, double theta, double phi)
	Primitives constructor.
void	assignFrom (ConstTaitBryan other)
	Assign from other to this, avoids object allocation.
void	assignFrom (ConstVector3d other)
	Assign from other to this, avoids object allocation.
boolean	equals (Object obj)
ConstTaitBryan	eulerToEuler (ConstMatrix3d rotation)
	Perform a rotation of the TaitBryan by a rotation matrix.
double	get (int i)
	Get component by index number, where i=0 for phi, i=1 for theta and i=2 for psi.
ConstMatrix3d	getEuler_to_BodyToRef ()
	Tait Bryans rotate counterclockwise first about Z, then the new Y, then the new X.
double	getPhi ()
	Get the phi component.
double	getPsi ()
	Get the psi component.
double	getTheta ()
	Get the theta component.
int	hashCode ()
void	set (int i, double v)
	Set a component by index number, where i=0 for phi, i=1 for theta and i=2 for psi.
void	setPhi (double phi)
void	setPsi (double psi)
void	setPsiThetaPhi (double psi, double theta, double phi)
	Set all components.
void	setTheta (double theta)
String	toString ()
ConstVector3d	toVector3d ()

Static Public Attributes
static final ConstTaitBryan	zero = new TaitBryan(0.0, 0.0, 0.0)
	TaitBryan with all elements zero.

Private Attributes
double	myPsi
double	myTheta
double	myPhi

Detailed Description

DtTaitBryans are used to represent orientation of an object, using a set of three Euler angles.

To represent an orientation of an entity, a set of three rotations are used. The three rotations used by DIS and RPR FOM are called the Tait-Bryan sequence, where the first rotation is about the Z axis, the second is about the new Y axis and the third is about the newest X axis. The three angles are usually denoted by psi, theta, and phi respectively.

Please note that the three angles to not correspond to the familiar heading, pitch and roll of an entity except when the reference coordinate system is topographic.

Constructor & Destructor Documentation

com.mak.vrlj.math.TaitBryan.TaitBryan ( )

inline

Default constructor.

Referenced by com.mak.vrlj.math.TaitBryan.equals().

com.mak.vrlj.math.TaitBryan.TaitBryan ( ConstTaitBryan other )

inline

Copy constructor.

Parameters

other original for copy.

References com.mak.vrlj.math.ConstTaitBryan.getPhi(), com.mak.vrlj.math.ConstTaitBryan.getPsi(), com.mak.vrlj.math.ConstTaitBryan.getTheta(), com.mak.vrlj.math.TaitBryan.myPhi, com.mak.vrlj.math.TaitBryan.myPsi, and com.mak.vrlj.math.TaitBryan.myTheta.

com.mak.vrlj.math.TaitBryan.TaitBryan	(	double	psi,
		double	theta,
		double	phi
	)

inline

Primitives constructor.

Parameters

psi	in radians.
theta	in radians.
phi	in radians.

References com.mak.vrlj.math.TaitBryan.myPhi, com.mak.vrlj.math.TaitBryan.myPsi, and com.mak.vrlj.math.TaitBryan.myTheta.

Member Function Documentation

void com.mak.vrlj.math.TaitBryan.assignFrom ( ConstTaitBryan other )

inline

Assign from other to this, avoids object allocation.

Parameters

other original for copy.

References com.mak.vrlj.math.ConstTaitBryan.getPhi(), com.mak.vrlj.math.ConstTaitBryan.getPsi(), com.mak.vrlj.math.ConstTaitBryan.getTheta(), com.mak.vrlj.math.TaitBryan.setPhi(), com.mak.vrlj.math.TaitBryan.setPsi(), and com.mak.vrlj.math.TaitBryan.setTheta().

Referenced by com.mak.vrlj.coord.DeadReckoner.deadReckonEuler(), com.mak.vrlj.coord.DeadReckoner.setOrientation(), com.mak.vrlj.coord.DeadReckoner.setOrientationAtTimeOfValidity(), and com.mak.vrlj.object.Entity.setWorldOrientation().

void com.mak.vrlj.math.TaitBryan.assignFrom ( ConstVector3d other )

inline

Assign from other to this, avoids object allocation.

Parameters

other original for copy.

References com.mak.vrlj.math.ConstVector3d.getX(), com.mak.vrlj.math.ConstVector3d.getY(), com.mak.vrlj.math.ConstVector3d.getZ(), com.mak.vrlj.math.TaitBryan.setPhi(), com.mak.vrlj.math.TaitBryan.setPsi(), and com.mak.vrlj.math.TaitBryan.setTheta().

boolean com.mak.vrlj.math.TaitBryan.equals ( Object obj )

inline

References com.mak.vrlj.math.TaitBryan.myPhi, com.mak.vrlj.math.TaitBryan.myPsi, com.mak.vrlj.math.TaitBryan.myTheta, and com.mak.vrlj.math.TaitBryan.TaitBryan().

Referenced by com.mak.vrlj.coord.DeadReckoner.equals(), and com.mak.vrlj.object.Entity.equals().

ConstTaitBryan com.mak.vrlj.math.TaitBryan.eulerToEuler ( ConstMatrix3d rotation )

inlinevirtual

Perform a rotation of the TaitBryan by a rotation matrix.

Parameters

rotation the rotation matrix.

Returns: the rotated TaitBryan.

Implements com.mak.vrlj.math.ConstTaitBryan.

References com.mak.vrlj.math.Matrix3d.getBodyToRef_to_Euler(), com.mak.vrlj.math.TaitBryan.getEuler_to_BodyToRef(), com.mak.vrlj.math.Matrix3d.identity, and com.mak.vrlj.math.Matrix3d.multiply().

double com.mak.vrlj.math.TaitBryan.get ( int i )

inlinevirtual

Get component by index number, where i=0 for phi, i=1 for theta and i=2 for psi.

Parameters

i	index of which component to set.

Returns: the value of the indexed component.

Implements com.mak.vrlj.math.ConstTaitBryan.

References com.mak.vrlj.math.TaitBryan.myPhi, com.mak.vrlj.math.TaitBryan.myPsi, and com.mak.vrlj.math.TaitBryan.myTheta.

ConstMatrix3d com.mak.vrlj.math.TaitBryan.getEuler_to_BodyToRef ( )

inlinevirtual

Tait Bryans rotate counterclockwise first about Z, then the new Y, then the new X.

Direction Cosine matrix; From frame A to frame B

Implements com.mak.vrlj.math.ConstTaitBryan.

References com.mak.vrlj.math.TaitBryan.myPhi, com.mak.vrlj.math.TaitBryan.myPsi, com.mak.vrlj.math.TaitBryan.myTheta, com.mak.vrlj.math.Matrix3d.setR1C1(), com.mak.vrlj.math.Matrix3d.setR1C2(), com.mak.vrlj.math.Matrix3d.setR1C3(), com.mak.vrlj.math.Matrix3d.setR2C1(), com.mak.vrlj.math.Matrix3d.setR2C2(), com.mak.vrlj.math.Matrix3d.setR2C3(), com.mak.vrlj.math.Matrix3d.setR3C1(), com.mak.vrlj.math.Matrix3d.setR3C2(), and com.mak.vrlj.math.Matrix3d.setR3C3().

Referenced by com.mak.vrlj.math.TaitBryan.eulerToEuler().

double com.mak.vrlj.math.TaitBryan.getPhi ( )

inlinevirtual

Get the phi component.

Returns: the phi component.

Implements com.mak.vrlj.math.ConstTaitBryan.

References com.mak.vrlj.math.TaitBryan.myPhi.

Referenced by com.mak.vrlj.example.f18.VehicleSim.init().

double com.mak.vrlj.math.TaitBryan.getPsi ( )

inlinevirtual

Get the psi component.

Returns: the psi component.

Implements com.mak.vrlj.math.ConstTaitBryan.

References com.mak.vrlj.math.TaitBryan.myPsi.

Referenced by com.mak.vrlj.example.f18.VehicleSim.init(), and com.mak.vrlj.example.f18.VehicleSim.simTick().

double com.mak.vrlj.math.TaitBryan.getTheta ( )

inlinevirtual

Get the theta component.

Returns: the theta component.

Implements com.mak.vrlj.math.ConstTaitBryan.

References com.mak.vrlj.math.TaitBryan.myTheta.

Referenced by com.mak.vrlj.math.Matrix3d.getBodyToRef_to_Euler().

int com.mak.vrlj.math.TaitBryan.hashCode ( )

inline

References com.mak.vrlj.math.TaitBryan.myPhi, com.mak.vrlj.math.TaitBryan.myPsi, and com.mak.vrlj.math.TaitBryan.myTheta.

void com.mak.vrlj.math.TaitBryan.set	(	int	i,
		double	v
	)

inline

Set a component by index number, where i=0 for phi, i=1 for theta and i=2 for psi.

Parameters

i	index of which component to set.
v	the new value for the indexed component.

References com.mak.vrlj.math.TaitBryan.myPhi, com.mak.vrlj.math.TaitBryan.myPsi, and com.mak.vrlj.math.TaitBryan.myTheta.

void com.mak.vrlj.math.TaitBryan.setPhi ( double phi )

inline

Parameters

phi	in radians.

References com.mak.vrlj.math.TaitBryan.myPhi.

Referenced by com.mak.vrlj.math.TaitBryan.assignFrom(), com.mak.vrlj.math.Matrix3d.getBodyToRef_to_Euler(), and com.mak.vrlj.example.f18.VehicleSim.init().

void com.mak.vrlj.math.TaitBryan.setPsi ( double psi )

inline

Parameters

psi	in radians.

References com.mak.vrlj.math.TaitBryan.myPsi.

Referenced by com.mak.vrlj.math.TaitBryan.assignFrom(), com.mak.vrlj.math.Matrix3d.getBodyToRef_to_Euler(), com.mak.vrlj.example.f18.VehicleSim.init(), and com.mak.vrlj.example.f18.VehicleSim.simTick().

void com.mak.vrlj.math.TaitBryan.setPsiThetaPhi	(	double	psi,
		double	theta,
		double	phi
	)

inline

Set all components.

Parameters

psi	in radians.
theta	in radians.
phi	in radians.

References com.mak.vrlj.math.TaitBryan.myPhi, com.mak.vrlj.math.TaitBryan.myPsi, and com.mak.vrlj.math.TaitBryan.myTheta.

void com.mak.vrlj.math.TaitBryan.setTheta ( double theta )

inline

Parameters

theta in radians.

References com.mak.vrlj.math.TaitBryan.myTheta.

Referenced by com.mak.vrlj.math.TaitBryan.assignFrom(), com.mak.vrlj.math.Matrix3d.getBodyToRef_to_Euler(), and com.mak.vrlj.example.f18.VehicleSim.init().

String com.mak.vrlj.math.TaitBryan.toString ( )

inline

References com.mak.vrlj.math.TaitBryan.myPhi, com.mak.vrlj.math.TaitBryan.myPsi, and com.mak.vrlj.math.TaitBryan.myTheta.

ConstVector3d com.mak.vrlj.math.TaitBryan.toVector3d ( )

inlinevirtual

Returns: a Vector3d of (psi, theta, phi).

Implements com.mak.vrlj.math.ConstTaitBryan.

References com.mak.vrlj.math.TaitBryan.myPhi, com.mak.vrlj.math.TaitBryan.myPsi, and com.mak.vrlj.math.TaitBryan.myTheta.

Member Data Documentation

double com.mak.vrlj.math.TaitBryan.myPhi

private

Referenced by com.mak.vrlj.math.TaitBryan.equals(), com.mak.vrlj.math.TaitBryan.get(), com.mak.vrlj.math.TaitBryan.getEuler_to_BodyToRef(), com.mak.vrlj.math.TaitBryan.getPhi(), com.mak.vrlj.math.TaitBryan.hashCode(), com.mak.vrlj.math.TaitBryan.set(), com.mak.vrlj.math.TaitBryan.setPhi(), com.mak.vrlj.math.TaitBryan.setPsiThetaPhi(), com.mak.vrlj.math.TaitBryan.TaitBryan(), com.mak.vrlj.math.TaitBryan.toString(), and com.mak.vrlj.math.TaitBryan.toVector3d().

double com.mak.vrlj.math.TaitBryan.myPsi

private

Referenced by com.mak.vrlj.math.TaitBryan.equals(), com.mak.vrlj.math.TaitBryan.get(), com.mak.vrlj.math.TaitBryan.getEuler_to_BodyToRef(), com.mak.vrlj.math.TaitBryan.getPsi(), com.mak.vrlj.math.TaitBryan.hashCode(), com.mak.vrlj.math.TaitBryan.set(), com.mak.vrlj.math.TaitBryan.setPsi(), com.mak.vrlj.math.TaitBryan.setPsiThetaPhi(), com.mak.vrlj.math.TaitBryan.TaitBryan(), com.mak.vrlj.math.TaitBryan.toString(), and com.mak.vrlj.math.TaitBryan.toVector3d().

double com.mak.vrlj.math.TaitBryan.myTheta

private

Referenced by com.mak.vrlj.math.TaitBryan.equals(), com.mak.vrlj.math.TaitBryan.get(), com.mak.vrlj.math.TaitBryan.getEuler_to_BodyToRef(), com.mak.vrlj.math.TaitBryan.getTheta(), com.mak.vrlj.math.TaitBryan.hashCode(), com.mak.vrlj.math.TaitBryan.set(), com.mak.vrlj.math.TaitBryan.setPsiThetaPhi(), com.mak.vrlj.math.TaitBryan.setTheta(), com.mak.vrlj.math.TaitBryan.TaitBryan(), com.mak.vrlj.math.TaitBryan.toString(), and com.mak.vrlj.math.TaitBryan.toVector3d().

final ConstTaitBryan com.mak.vrlj.math.TaitBryan.zero = new TaitBryan(0.0, 0.0, 0.0)

static

TaitBryan with all elements zero.

The documentation for this class was generated from the following file:

TaitBryan.java

Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation