`class Rotation3D: Any`

Rotation in the three dimensional space given as Tait-Bryan angles. See the wikipedia article on Tait–Bryan angles. Further, see the wikipedia article on aircraft principal axes.

Fields

Name Description
`val heading: normalizeAngle(heading)`
`val pitch: normalizeAngle(pitch)`
`val roll: normalizeAngle(roll)`
`val headingDegree: get() = heading * RAD_TO_DEG`
`val pitchDegree: get() = pitch * RAD_TO_DEG`
`val rollDegree: get() = roll * RAD_TO_DEG`

Constructors

<init>

`constructor(heading: Double, pitch: Double, roll: Double)`

Rotation in the three dimensional space given as Tait-Bryan angles. See the wikipedia article on Tait–Bryan angles. Further, see the wikipedia article on aircraft principal axes.

Parameters

Name Description
`heading: Double`

around z-axis, 0.0 = direction of x-axis / east (+π/2 = direction of y-axis / north)

`pitch: Double`

around y’-axis, 0.0 = level (in x’/y’ plane), ( +π/2 = direction of negative z-axis)

`roll: Double`

around x’’-axis, 0.0 = level (parallel to x’’/y’’ plane)

Methods

plus

`operator fun plus(v: Rotation3D): Rotation3D`

Parameters

Name Description
`v: Rotation3D`

ReturnValue

Name Description
`Rotation3D`

minus

`operator fun minus(v: Rotation3D): Rotation3D`

Parameters

Name Description
`v: Rotation3D`

ReturnValue

Name Description
`Rotation3D`

getMatrix

`fun getMatrix(): RealMatrix`

ReturnValue

Name Description
`RealMatrix`

toRotation2D

`fun toRotation2D(selectAxis: Vector3D): Rotation2D`

Conversion to a rotation in 2D.

Parameters

Name Description
`selectAxis: Vector3D`

axis to be selected for 2D; selecting the z axis will take the heading angle for 2D

ReturnValue

Name Description
`Rotation2D`

toString

`fun toString(): String`

ReturnValue

Name Description
`String`

CompanionObject

Rotation3D

`class Rotation3D: Any`

Rotation in the three dimensional space given as Tait-Bryan angles. See the wikipedia article on Tait–Bryan angles. Further, see the wikipedia article on aircraft principal axes.

Fields

Name Description
`val ZERO: Rotation3D`

Methods

of

`fun of(heading: Double, roll: Double, pitch: Double): Rotation3D`

Returns a Rotation3D while replacing non-finite values for heading, roll and pitch with 0.0.

Parameters

Name Description
`heading: Double`
`roll: Double`
`pitch: Double`

ReturnValue

Name Description
`Rotation3D`