com.ur.urcap.api.domain.value

Interface RotationFactory

public interface RotationFactory

Factory for creating a rotation vector specifying a Cartesian orientation.

The factory can, for example, to be used when constructing a pose with PoseFactory.createPose(Position, Rotation)

Since:

1.13.0

Method Summary

Modifier and Type	Method and Description
Rotation	createRotation(double rx, double ry, double rz, Angle.Unit angleUnit) Creates an object representing a rotation vector for a Cartesian orientation with the specified rotation parameters.

Method Detail

createRotation

Rotation createRotation(double rx,
                        double ry,
                        double rz,
                        Angle.Unit angleUnit)

Creates an object representing a rotation vector for a Cartesian orientation with the specified rotation parameters.

Parameters:

rx - Rx parameter of the rotation vector specifying the Cartesian orientation.

ry - Ry parameter of the rotation vector specifying the Cartesian orientation.

rz - Rz parameter of the rotation vector specifying the Cartesian orientation.

angleUnit - The angular unit for the specified rotation vector parameters.

Returns:

A new Cartesian rotation vector