edu.nps.moves.disutil
Class EulerConversions

java.lang.Object
  edu.nps.moves.disutil.EulerConversions

public class EulerConversions
extends java.lang.Object

Class contains methods that convert to Tait_Bryan_angles (i.e., roll, pitch and yaw/heading) given the position (i.e., latitude, longitude) and the euler angles (i.e., psi, theta, and phi). Class also has methods for the corollary: converting to psi, theta, and phi given the lat/lon position and the entity's roll, pitch and yaw angles In this class roll, pitch and yaw are always expressed in degrees whereas psi, theta, and phi are always in radians. Note: latitude and longitude are also expressed in radians.

Author:

loyaj & bhughes

Constructor Summary

EulerConversions()

Method Summary

static double	getOrientationFromEuler(double lat, double lon, double psi, double theta) Gets a degree heading for an entity based on euler angles.
static double	getPhiFromTaitBryanAngles(double lat, double lon, double yaw, double pitch, double roll) Gets the Euler Phi value (in radians) from position and Tait-Brayn yaw, pitch and roll angles
static double	getPitchFromEuler(double lat, double lon, double psi, double theta) Gets a degree pitch for an entity based on euler angles.
static double	getPsiFromTaitBryanAngles(double lat, double lon, double yaw, double pitch) Gets the Euler Psi value (in radians) from position and Tait-Brayn yaw and roll angles
static double	getRollFromEuler(double lat, double lon, double psi, double theta, double phi) Gets the degree roll for an entity based on euler angles.
static double	getThetaFromTaitBryanAngles(double lat, double lon, double yaw, double pitch) Gets the Euler Theta value (in radians) from position and Tait-Brayn yaw and roll angles

Methods inherited from class java.lang.Object

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

Constructor Detail

EulerConversions

public EulerConversions()

Method Detail

getOrientationFromEuler

public static double getOrientationFromEuler(double lat,
                                             double lon,
                                             double psi,
                                             double theta)

Gets a degree heading for an entity based on euler angles. All angular values passed in must be in radians.

Parameters:

lat - Entity's latitude, IN RADIANS

lon - Entity's longitude, IN RADIANS

psi - Psi angle, IN RADIANS

theta - Theta angle, IN RADIANS

Returns:

the heading, in degrees, with 0 being north, positive angles going clockwise, and negative angles going counterclockwise (i.e., 90 deg is east, -90 is west)

getPitchFromEuler

public static double getPitchFromEuler(double lat,
                                       double lon,
                                       double psi,
                                       double theta)

Gets a degree pitch for an entity based on euler angles. All angular values passed in must be in radians.

Parameters:

lat - Entity's latitude, IN RADIANS

lon - Entity's longitude, IN RADIANS

psi - Psi angle, IN RADIANS

theta - Theta angle, IN RADIANS

Returns:

the pitch, in degrees, with 0 being level. A negative values is when the entity's nose is pointing downward, positive value is when the entity's nose is pointing upward.

getRollFromEuler

public static double getRollFromEuler(double lat,
                                      double lon,
                                      double psi,
                                      double theta,
                                      double phi)

Gets the degree roll for an entity based on euler angles. All angular values passed in must be in radians.

Parameters:

lat - Entity's latitude, IN RADIANS

lon - Entity's longitude, IN RADIANS

psi - Psi angle, IN RADIANS

theta - Theta angle, IN RADIANS

phi - Phi angle, IN RADIANS

Returns:

the roll, in degrees, with 0 being level flight, + roll is clockwise when looking out the front of the entity.

getThetaFromTaitBryanAngles

public static double getThetaFromTaitBryanAngles(double lat,
                                                 double lon,
                                                 double yaw,
                                                 double pitch)

Gets the Euler Theta value (in radians) from position and Tait-Brayn yaw and roll angles

Parameters:

lat - Entity's latitude, IN RADIANS

lon - Entity's longitude, IN RADIANS

yaw - entity's yaw angle (also know as the entity's bearing or heading angle), in degrees

pitch - entity's pitch angle, in degrees

Returns:

the Theta value in radians

getPsiFromTaitBryanAngles

public static double getPsiFromTaitBryanAngles(double lat,
                                               double lon,
                                               double yaw,
                                               double pitch)

Gets the Euler Psi value (in radians) from position and Tait-Brayn yaw and roll angles

Parameters:

lat - Entity's latitude, IN RADIANS

lon - Entity's longitude, IN RADIANS

yaw - ettity's yaw angle (also know as the entity's bearing or heading angle), in degrees

pitch - entity's pitch angle, in degrees

Returns:

the Psi value in radians

getPhiFromTaitBryanAngles

public static double getPhiFromTaitBryanAngles(double lat,
                                               double lon,
                                               double yaw,
                                               double pitch,
                                               double roll)

Gets the Euler Phi value (in radians) from position and Tait-Brayn yaw, pitch and roll angles

Parameters:

lat - Entity's latitude, IN RADIANS

lon - Entity's longitude, IN RADIANS

yaw - yaw angle (also know as the entity's bearing or heading angle), in degrees

pitch - entity's pitch angle, in degrees

roll - entity's roll angle (0 is level flight, + roll is clockwise looking out the nose), in degrees

Returns:

the Phi value in radians