us.ihmc.euclid.rotationConversion

Class YawPitchRollConversion

java.lang.Object

us.ihmc.euclid.rotationConversion.YawPitchRollConversion

public abstract class YawPitchRollConversion
extends java.lang.Object

This class gathers all the methods necessary to converts any type of rotation into the yaw-pitch-roll angles.

WARNING: the Euler angles or yaw-pitch-roll representation is sensitive to gimbal lock and is sometimes undefined. Prefer using other representations of 3D orientation such as axis-angle, quaternion, or rotation matrix.

To convert an orientation into other data structure types see:

• for yaw-pitch-roll: AxisAngleConversion,
• for quaternion: QuaternionConversion,
• for rotation matrix: RotationMatrixConversion,
• for rotation vector: RotationVectorConversion.

Note: the yaw-pitch-roll representation, also called Euler angles, corresponds to the representation of an orientation by decomposing it by three successive rotations around the three axes: Z (yaw), Y (pitch), and X (roll). The equivalent rotation matrix of such representation is:

 R = RZ(yaw) * RY(pitch) * RX(roll)

           / cos(yaw) -sin(yaw) 0 \
 RZ(yaw) = | sin(yaw)  cos(yaw) 0 |
           \    0         0     1 /

             /  cos(pitch) 0 sin(pitch) \
 RY(pitch) = |      0      1     0      |
             \ -sin(pitch) 0 cos(pitch) /

             / 1     0          0     \
 RX(roll)  = | 0 cos(roll) -sin(roll) |
             \ 0 sin(roll)  cos(roll) /
 

Field Summary

Fields

Modifier and Type	Field and Description
static double	MAX_SAFE_PITCH_ANGLE Pitch angle that defines the upper bound of the safe region in which the resulting pitch angle of a conversion is accurate.
static double	MIN_SAFE_PITCH_ANGLE Pitch angle that defines the lower bound of the safe region in which the resulting pitch angle of a conversion is accurate.
static double	SAFE_THRESHOLD_PITCH Represents the safety margin that

Constructor Summary

Constructors

Constructor and Description
YawPitchRollConversion()

Method Summary

Modifier and Type	Method and Description
static double	computePitch(AxisAngleReadOnly axisAngle) Computes the pitch from an axis-angle.
static double	computePitch(QuaternionReadOnly quaternion) Computes the pitch from a quaternion.
static double	computePitch(RotationMatrixReadOnly rotationMatrix) Computes the pitch angle from a rotation matrix.
static double	computePitch(RotationScaleMatrixReadOnly rotationScaleMatrix) Computes the pitch angle from the rotation part of a rotation-scale matrix.
static double	computePitch(Vector3DReadOnly rotationVector) Computes the pitch from a rotation vector.
static double	computeRoll(AxisAngleReadOnly axisAngle) Computes the roll from an axis-angle.
static double	computeRoll(QuaternionReadOnly quaternion) Computes the roll from a quaternion.
static double	computeRoll(RotationMatrixReadOnly rotationMatrix) Computes the roll from a rotation matrix.
static double	computeRoll(RotationScaleMatrixReadOnly rotationScaleMatrix) Computes the roll from the rotation part of a rotation-scale matrix.
static double	computeRoll(Vector3DReadOnly rotationVector) Computes the roll from a rotation vector.
static double	computeYaw(AxisAngleReadOnly axisAngle) Computes the yaw from an axis-angle.
static double	computeYaw(QuaternionReadOnly quaternion) Computes the yaw from a quaternion.
static double	computeYaw(RotationMatrixReadOnly rotationMatrix) Computes the yaw from a rotation matrix.
static double	computeYaw(RotationScaleMatrixReadOnly rotationScaleMatrix) Computes the yaw from the rotation part of a rotation-scale matrix.
static double	computeYaw(Vector3DReadOnly rotationVector) Computes the yaw from a rotation vector.
static void	convertAxisAngleToYawPitchRoll(AxisAngleReadOnly axisAngle, double[] yawPitchRollToPack) Converts the axis-angle into yaw-pitch-roll.
static void	convertAxisAngleToYawPitchRoll(AxisAngleReadOnly axisAngle, Tuple3DBasics eulerAnglesToPack) Converts the axis-angle into yaw-pitch-roll.
static void	convertMatrixToYawPitchRoll(RotationMatrixReadOnly rotationMatrix, double[] yawPitchRollToPack) Converts the rotation matrix into yaw-pitch-roll.
static void	convertMatrixToYawPitchRoll(RotationMatrixReadOnly rotationMatrix, Tuple3DBasics eulerAnglesToPack) Converts the given rotation matrix into yaw-pitch-roll.
static void	convertMatrixToYawPitchRoll(RotationScaleMatrixReadOnly rotationScaleMatrix, double[] yawPitchRollToPack) Converts the rotation part of the given rotation-scale matrix into yaw-pitch-roll.
static void	convertMatrixToYawPitchRoll(RotationScaleMatrixReadOnly rotationScaleMatrix, Tuple3DBasics eulerAnglesToPack) Converts the rotation part of the given rotation-scale matrix into yaw-pitch-roll.
static void	convertQuaternionToYawPitchRoll(QuaternionReadOnly quaternion, double[] yawPitchRollToPack) Converts the quaternion into yaw-pitch-roll.
static void	convertQuaternionToYawPitchRoll(QuaternionReadOnly quaternion, Tuple3DBasics eulerAnglesToPack) Converts the given quaternion into yaw-pitch-roll.
static void	convertRotationVectorToYawPitchRoll(Vector3DReadOnly rotationVector, double[] yawPitchRollToPack) Converts the rotation vector into yaw-pitch-roll.
static void	convertRotationVectorToYawPitchRoll(Vector3DReadOnly rotationVector, Vector3DBasics eulerAnglesToPack) Converts the rotation vector into yaw-pitch-roll.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

SAFE_THRESHOLD_PITCH

public static final double SAFE_THRESHOLD_PITCH

Represents the safety margin that

MAX_SAFE_PITCH_ANGLE

public static final double MAX_SAFE_PITCH_ANGLE

Pitch angle that defines the upper bound of the safe region in which the resulting pitch angle of a conversion is accurate. If the pitch angle from a conversion is beyond this bound, the yaw-pitch-roll becomes inaccurate.

MIN_SAFE_PITCH_ANGLE

public static final double MIN_SAFE_PITCH_ANGLE

Pitch angle that defines the lower bound of the safe region in which the resulting pitch angle of a conversion is accurate. If the pitch angle from a conversion is beyond this bound, the yaw-pitch-roll becomes inaccurate.

Constructor Detail

YawPitchRollConversion

public YawPitchRollConversion()

Method Detail

computeYaw

public static double computeYaw(RotationMatrixReadOnly rotationMatrix)

Computes the yaw from a rotation matrix.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationMatrix - the rotation matrix to use for the conversion. Not modified.

Returns:

the yaw angle.

computePitch

public static double computePitch(RotationMatrixReadOnly rotationMatrix)

Computes the pitch angle from a rotation matrix.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationMatrix - the rotation matrix to use for the conversion. Not modified.

Returns:

the pitch angle.

computeRoll

public static double computeRoll(RotationMatrixReadOnly rotationMatrix)

Computes the roll from a rotation matrix.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationMatrix - the rotation matrix to use for the conversion. Not modified.

Returns:

the roll angle.

computeYaw

public static double computeYaw(RotationScaleMatrixReadOnly rotationScaleMatrix)

Computes the yaw from the rotation part of a rotation-scale matrix.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationScaleMatrix - a 3-by-3 matrix representing an orientation and a scale. Only the orientation part is used during the conversion. Not modified.

Returns:

the yaw angle.

computePitch

public static double computePitch(RotationScaleMatrixReadOnly rotationScaleMatrix)

Computes the pitch angle from the rotation part of a rotation-scale matrix.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationScaleMatrix - a 3-by-3 matrix representing an orientation and a scale. Only the orientation part is used during the conversion. Not modified.

Returns:

the pitch angle.

computeRoll

public static double computeRoll(RotationScaleMatrixReadOnly rotationScaleMatrix)

Computes the roll from the rotation part of a rotation-scale matrix.

Edge case:

• if the rotation matrix contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationScaleMatrix - a 3-by-3 matrix representing an orientation and a scale. Only the orientation part is used during the conversion. Not modified.

Returns:

the roll angle.

convertMatrixToYawPitchRoll

public static void convertMatrixToYawPitchRoll(RotationScaleMatrixReadOnly rotationScaleMatrix,
                                               double[] yawPitchRollToPack)

Converts the rotation part of the given rotation-scale matrix into yaw-pitch-roll.

After calling this method, the rotation part of the rotation-scale matrix and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the rotation matrix contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

rotationScaleMatrix - a 3-by-3 matrix representing an orientation and a scale. Only the orientation part is used during the conversion. Not modified.

yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored, in the order yaw, pitch, then roll. Modified.

convertMatrixToYawPitchRoll

public static void convertMatrixToYawPitchRoll(RotationMatrixReadOnly rotationMatrix,
                                               double[] yawPitchRollToPack)

Converts the rotation matrix into yaw-pitch-roll.

After calling this method, the rotation matrix and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the rotation matrix contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

rotationMatrix - a 3-by-3 matrix representing an orientation. Not modified.

yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored, in the order yaw, pitch, then roll. Modified.

convertMatrixToYawPitchRoll

public static void convertMatrixToYawPitchRoll(RotationScaleMatrixReadOnly rotationScaleMatrix,
                                               Tuple3DBasics eulerAnglesToPack)

Converts the rotation part of the given rotation-scale matrix into yaw-pitch-roll.

After calling this method, the rotation part of the rotation-scale matrix and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the rotation matrix contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

rotationScaleMatrix - a 3-by-3 matrix representing an orientation and a scale. Only the orientation part is used during the conversion. Not modified.

eulerAnglesToPack - the tuple in which the yaw-pitch-roll angles are stored, i.e. eulerAnglesToPack.set(roll, pitch, yaw). Modified.

convertMatrixToYawPitchRoll

public static void convertMatrixToYawPitchRoll(RotationMatrixReadOnly rotationMatrix,
                                               Tuple3DBasics eulerAnglesToPack)

Converts the given rotation matrix into yaw-pitch-roll.

After calling this method, the rotation matrix and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the rotation matrix contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

rotationMatrix - a 3-by-3 matrix representing an orientation. Not modified.

eulerAnglesToPack - the tuple in which the yaw-pitch-roll angles are stored, i.e. eulerAnglesToPack.set(roll, pitch, yaw). Modified.

computeYaw

public static double computeYaw(QuaternionReadOnly quaternion)

Computes the yaw from a quaternion.

Edge case:

• if the quaternion contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

quaternion - the quaternion to use in the conversion. Not modified.

Returns:

the yaw angle.

computePitch

public static double computePitch(QuaternionReadOnly quaternion)

Computes the pitch from a quaternion.

Edge case:

• if the quaternion contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

quaternion - the quaternion to use in the conversion. Not modified.

Returns:

the pitch angle.

computeRoll

public static double computeRoll(QuaternionReadOnly quaternion)

Computes the roll from a quaternion.

Edge case:

• if the quaternion contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

quaternion - the quaternion to use in the conversion. Not modified.

Returns:

the roll angle.

convertQuaternionToYawPitchRoll

public static void convertQuaternionToYawPitchRoll(QuaternionReadOnly quaternion,
                                                   double[] yawPitchRollToPack)

Converts the quaternion into yaw-pitch-roll.

After calling this method, the quaternion and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the quaternion contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

quaternion - the quaternion to use in the conversion. Not modified.

yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored, in the order yaw, pitch, then roll. Modified.

convertQuaternionToYawPitchRoll

public static void convertQuaternionToYawPitchRoll(QuaternionReadOnly quaternion,
                                                   Tuple3DBasics eulerAnglesToPack)

Converts the given quaternion into yaw-pitch-roll.

After calling this method, the quaternion and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the quaternion contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

quaternion - the quaternion to use in the conversion. Not modified.

eulerAnglesToPack - the tuple in which the yaw-pitch-roll angles are stored, i.e. eulerAnglesToPack.set(roll, pitch, yaw). Modified.

computeYaw

public static double computeYaw(AxisAngleReadOnly axisAngle)

Computes the yaw from an axis-angle.

Edge case:

• if the axis-angle contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

axisAngle - the axis-angle to use in the conversion. Not modified.

Returns:

the yaw angle.

computePitch

public static double computePitch(AxisAngleReadOnly axisAngle)

Computes the pitch from an axis-angle.

Edge case:

• if the axis-angle contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

axisAngle - the axis-angle to use in the conversion. Not modified.

Returns:

the pitch angle.

computeRoll

public static double computeRoll(AxisAngleReadOnly axisAngle)

Computes the roll from an axis-angle.

Edge case:

• if the axis-angle contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

axisAngle - the axis-angle to use in the conversion. Not modified.

Returns:

the roll angle.

convertAxisAngleToYawPitchRoll

public static void convertAxisAngleToYawPitchRoll(AxisAngleReadOnly axisAngle,
                                                  double[] yawPitchRollToPack)

Converts the axis-angle into yaw-pitch-roll.

After calling this method, the axis-angle and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the axis-angle contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

axisAngle - the axis-angle to use in the conversion. Not modified.

yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored, in the order yaw, pitch, then roll. Modified.

convertAxisAngleToYawPitchRoll

public static void convertAxisAngleToYawPitchRoll(AxisAngleReadOnly axisAngle,
                                                  Tuple3DBasics eulerAnglesToPack)

Converts the axis-angle into yaw-pitch-roll.

After calling this method, the axis-angle and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the axis-angle contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

axisAngle - the axis-angle to use in the conversion. Not modified.

eulerAnglesToPack - the tuple in which the yaw-pitch-roll angles are stored, i.e. eulerAnglesToPack.set(roll, pitch, yaw). Modified.

computeYaw

public static double computeYaw(Vector3DReadOnly rotationVector)

Computes the yaw from a rotation vector.

Edge case:

• if the rotation vector contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationVector - the rotation vector to use in the conversion. Not modified.

Returns:

the yaw angle.

computePitch

public static double computePitch(Vector3DReadOnly rotationVector)

Computes the pitch from a rotation vector.

Edge case:

• if the rotation vector contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationVector - the rotation vector to use in the conversion. Not modified.

Returns:

the pitch angle.

computeRoll

public static double computeRoll(Vector3DReadOnly rotationVector)

Computes the roll from a rotation vector.

Edge case:

• if the rotation vector contains at least one Double.NaN, this method returns Double.NaN.

Parameters:

rotationVector - the rotation vector to use in the conversion. Not modified.

Returns:

the roll angle.

convertRotationVectorToYawPitchRoll

public static void convertRotationVectorToYawPitchRoll(Vector3DReadOnly rotationVector,
                                                       double[] yawPitchRollToPack)

Converts the rotation vector into yaw-pitch-roll.

After calling this method, the rotation vector and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the rotation vector contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

rotationVector - the rotation vector to use in the conversion. Not modified.

yawPitchRollToPack - the array in which the yaw-pitch-roll angles are stored, in the order yaw, pitch, then roll. Modified.

convertRotationVectorToYawPitchRoll

public static void convertRotationVectorToYawPitchRoll(Vector3DReadOnly rotationVector,
                                                       Vector3DBasics eulerAnglesToPack)

Converts the rotation vector into yaw-pitch-roll.

After calling this method, the rotation vector and the yaw-pitch-roll angles represent the same orientation.

Edge case:

• if the rotation vector contains at least one Double.NaN, the yaw-pitch-roll angles are set to Double.NaN.

Parameters:

rotationVector - the rotation vector to use in the conversion. Not modified.

eulerAnglesToPack - the tuple in which the yaw-pitch-roll angles are stored, i.e. eulerAnglesToPack.set(roll, pitch, yaw). Modified.