org.firstinspires.ftc.robotcore.external.navigation

Class AngularVelocity

java.lang.Object

org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity

public class AngularVelocity
extends java.lang.Object

Instances of AngularVelocity represent an instantaneous body-referenced 3D rotation rate.

The instantaneous rate of change of an Orientation, which is what we are representing here, has unexpected subtleties. As described in Section 9.3 of the MIT Kinematics Lecture below, the instantaneous body-referenced rotation rate angles are decoupled (their order does not matter) but their conversion into a corresponding instantaneous rate of change of a set of related Euler angles (ie: Orientation involves a non-obvious transformation on two of the rotation rates.

See Also:

MIT Kinematics Lecture, Understanding Euler Angles, Angular Velocity

Field Summary

Fields

Modifier and Type	Field and Description
long	acquisitionTime the time on the System.nanoTime() clock at which the data was acquired.
AngleUnit	unit the angular unit in which angular rates are expressed.
float	xRotationRate the instantaneous body-referenced rotation rate about the x-axis in units of "units per second".
float	yRotationRate the instantaneous body-referenced rotation rate about the y-axis in units of "units per second".
float	zRotationRate the instantaneous body-referenced rotation rate about the z-axis in units of "units per second".

Constructor Summary

Constructors

Constructor and Description
AngularVelocity()
AngularVelocity(AngleUnit unit, float xRotationRate, float yRotationRate, float zRotationRate, long acquisitionTime)

Method Summary

Modifier and Type	Method and Description
AngularVelocity	toAngleUnit(AngleUnit unit) Converts this AngularVelocity to one with the indicated angular units.

Methods inherited from class java.lang.Object

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

Field Detail

unit

public AngleUnit unit

the angular unit in which angular rates are expressed. The time unit thereof is always "per second".

xRotationRate

public float xRotationRate

the instantaneous body-referenced rotation rate about the x-axis in units of "units per second".

yRotationRate

public float yRotationRate

the instantaneous body-referenced rotation rate about the y-axis in units of "units per second".

zRotationRate

public float zRotationRate

the instantaneous body-referenced rotation rate about the z-axis in units of "units per second".

acquisitionTime

public long acquisitionTime

the time on the System.nanoTime() clock at which the data was acquired. If no timestamp is associated with this particular set of data, this value is zero.

Constructor Detail

AngularVelocity

public AngularVelocity()

AngularVelocity

public AngularVelocity(AngleUnit unit,
                       float xRotationRate,
                       float yRotationRate,
                       float zRotationRate,
                       long acquisitionTime)

Method Detail

toAngleUnit

public AngularVelocity toAngleUnit(AngleUnit unit)

Converts this AngularVelocity to one with the indicated angular units.

Parameters:

unit - the units to use in the returned [@link AngularVelocity}

Returns:

a new [@link AngularVelocity} with the same data but in the indicated units