Package viam.app.v1

Class Robot.Orientation.OrientationVectorRadians

java.lang.Object
com.google.protobuf.AbstractMessageLite<MessageType,BuilderType>
com.google.protobuf.GeneratedMessageLite<Robot.Orientation.OrientationVectorRadians,Robot.Orientation.OrientationVectorRadians.Builder>
viam.app.v1.Robot.Orientation.OrientationVectorRadians
All Implemented Interfaces:
com.google.protobuf.MessageLite, com.google.protobuf.MessageLiteOrBuilder, Robot.Orientation.OrientationVectorRadiansOrBuilder
Enclosing class:
Robot.Orientation
public static final class Robot.Orientation.OrientationVectorRadians extends com.google.protobuf.GeneratedMessageLite<Robot.Orientation.OrientationVectorRadians,Robot.Orientation.OrientationVectorRadians.Builder> implements Robot.Orientation.OrientationVectorRadiansOrBuilder
 OrientationVector containing ox, oy, oz, theta represents an orientation vector
 Structured similarly to an angle axis, an orientation vector works differently. Rather than representing an orientation
 with an arbitrary axis and a rotation around it from an origin, an orientation vector represents orientation
 such that the ox/oy/oz components represent the point on the cartesian unit sphere at which your end effector is pointing
 from the origin, and that unit vector forms an axis around which theta rotates. This means that incrementing/decrementing
 theta will perform an in-line rotation of the end effector.
 Theta is defined as rotation between two planes: the plane defined by the origin, the point (0,0,1), and the rx,ry,rz
 point, and the plane defined by the origin, the rx,ry,rz point, and the new local Z axis. So if theta is kept at
 zero as the north/south pole is circled, the Roll will correct itself to remain in-line.
Protobuf type viam.app.v1.Orientation.OrientationVectorRadians