@itwin/core-geometry 4.10.0-dev.31 → 4.10.0-dev.33

package/lib/esm/geometry3d/YawPitchRollAngles.d.ts.map

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package/lib/esm/geometry3d/YawPitchRollAngles.js.map

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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\nimport { AngleProps, Geometry } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n// cspell:word Tait\r\n\r\n/**\r\n * Angle properties of a `YawPitchRoll` orientation\r\n * @public\r\n */\r\nexport interface YawPitchRollProps {\r\n  /** yaw field */\r\n  yaw?: AngleProps;\r\n  /** pitch field */\r\n  pitch?: AngleProps;\r\n  /** roll field */\r\n  roll?: AngleProps;\r\n}\r\n\r\n/**\r\n * Three angles that determine the orientation of an object in space, sometimes referred to as [Tait–Bryan angles]\r\n * (https://en.wikipedia.org/wiki/Euler_angles).\r\n * * The matrix construction can be replicated by this logic:\r\n * * xyz coordinates have\r\n *   * x forward\r\n *   * y to left\r\n *   * z up\r\n * * Note that this is a right handed coordinate system.\r\n * * yaw is a rotation of x towards y, i.e. around positive z (counterclockwise):\r\n *     * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`\r\n * * pitch is a rotation that raises x towards z, i.e. rotation around **negative y** (**clockwise**):\r\n *     * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`\r\n * * roll is rotation of y towards z, i.e. rotation around positive x (counterclockwise):\r\n *     * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`\r\n * * The YPR matrix is the product\r\n *     * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`\r\n * * Note that this is for \"column based\" matrix with vectors multiplying on the right of the matrix.\r\n * Hence a vector is first rotated by roll, then the pitch, finally yaw. So multiplication order in\r\n * the sense of AxisOrder is `RPY` (i.e., XYZ), in contrast to the familiar name `YPR`.\r\n * @public\r\n */\r\nexport class YawPitchRollAngles {\r\n  /** The yaw angle: counterclockwise rotation angle around z  */\r\n  public yaw: Angle;\r\n  /** The pitch angle: **clockwise** rotation angle around y */\r\n  public pitch: Angle;\r\n  /** The roll angle: counterclockwise rotation angle around x */\r\n  public roll: Angle;\r\n  /**\r\n   * Constructor\r\n   * @param yaw counterclockwise rotation angle around z\r\n   * @param pitch **clockwise** rotation angle around y\r\n   * @param roll counterclockwise rotation angle around x\r\n   */\r\n  constructor(yaw: Angle = Angle.zero(), pitch: Angle = Angle.zero(), roll: Angle = Angle.zero()) {\r\n    this.yaw = yaw;\r\n    this.pitch = pitch;\r\n    this.roll = roll;\r\n  }\r\n  /** Freeze this YawPitchRollAngles */\r\n  public freeze(): Readonly<this> {\r\n    this.yaw.freeze();\r\n    this.pitch.freeze();\r\n    this.roll.freeze();\r\n    return Object.freeze(this);\r\n  }\r\n  /**\r\n   * Constructor for YawPitchRollAngles with angles in degrees.\r\n   * @param yawDegrees counterclockwise rotation angle (in degrees) around z\r\n   * @param pitchDegrees **clockwise** rotation angle (in degrees) around y\r\n   * @param rollDegrees counterclockwise rotation angle (in degrees) around x\r\n   */\r\n  public static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(\r\n      Angle.createDegrees(yawDegrees),\r\n      Angle.createDegrees(pitchDegrees),\r\n      Angle.createDegrees(rollDegrees),\r\n    );\r\n  }\r\n  /**\r\n   * Constructor for YawPitchRollAngles with angles in radians.\r\n   * @param yawRadians counterclockwise rotation angle (in radians) around z\r\n   * @param pitchRadians **clockwise** rotation angle (in radians) around y\r\n   * @param rollRadians counterclockwise rotation angle (in radians) around x\r\n   */\r\n  public static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(\r\n      Angle.createRadians(yawRadians),\r\n      Angle.createRadians(pitchRadians),\r\n      Angle.createRadians(rollRadians),\r\n    );\r\n  }\r\n  /** Construct a `YawPitchRoll` object from an object with 3 named angles */\r\n  public static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles {\r\n    json = json ? json : {};\r\n    return new YawPitchRollAngles(\r\n      Angle.fromJSON(json.yaw),\r\n      Angle.fromJSON(json.pitch),\r\n      Angle.fromJSON(json.roll),\r\n    );\r\n  }\r\n  /** Populate yaw, pitch and roll fields using `Angle.fromJSON` */\r\n  public setFromJSON(json?: YawPitchRollProps): void {\r\n    json = json ? json : {};\r\n    this.yaw = Angle.fromJSON(json.yaw);\r\n    this.pitch = Angle.fromJSON(json.pitch);\r\n    this.roll = Angle.fromJSON(json.roll);\r\n  }\r\n  /**\r\n   * Convert to a JSON object of form { pitch: 20 , roll: 30 , yaw: 10 }. Angles are in degrees.\r\n   * Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted.\r\n   */\r\n  public toJSON(): YawPitchRollProps {\r\n    const val: YawPitchRollProps = {};\r\n    if (!this.pitch.isAlmostZero)\r\n      val.pitch = this.pitch.toJSON();\r\n    if (!this.roll.isAlmostZero)\r\n      val.roll = this.roll.toJSON();\r\n    if (!this.yaw.isAlmostZero)\r\n      val.yaw = this.yaw.toJSON();\r\n    return val;\r\n  }\r\n  /**\r\n   * Install all rotations from `other` into `this`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public setFrom(other: YawPitchRollAngles) {\r\n    this.yaw.setFrom(other.yaw);\r\n    this.pitch.setFrom(other.pitch);\r\n    this.roll.setFrom(other.roll);\r\n  }\r\n  /**\r\n   * Compare angles between `this` and `other`.\r\n   * * Comparisons are via `isAlmostEqualAllowPeriodShift`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public isAlmostEqual(other: YawPitchRollAngles) {\r\n    return this.yaw.isAlmostEqualAllowPeriodShift(other.yaw)\r\n      && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)\r\n      && this.roll.isAlmostEqualAllowPeriodShift(other.roll);\r\n  }\r\n  /** Make a copy of this YawPitchRollAngles */\r\n  public clone() {\r\n    return new YawPitchRollAngles(\r\n      this.yaw.clone(),\r\n      this.pitch.clone(),\r\n      this.roll.clone(),\r\n    );\r\n  }\r\n  /**\r\n   * Expand the angles into a (rigid rotation) matrix.\r\n   * * The returned matrix is \"rigid\" (i.e., it has unit length rows and columns, and its transpose is its inverse).\r\n   * * The rigid matrix is always a right handed coordinate system.\r\n   * @param result optional pre-allocated `Matrix3d`\r\n   */\r\n  public toMatrix3d(result?: Matrix3d) {\r\n    const cz = Math.cos(this.yaw.radians);\r\n    const sz = Math.sin(this.yaw.radians);\r\n    const cy = Math.cos(this.pitch.radians);\r\n    const sy = Math.sin(this.pitch.radians);\r\n    const cx = Math.cos(this.roll.radians);\r\n    const sx = Math.sin(this.roll.radians);\r\n    /**\r\n    * The axis order is XYZ (i.e., RPY) so the rotation matrix is calculated via rZ*rY*rX where\r\n    * rX, rY, and rZ are base rotation matrixes:\r\n    *\r\n    *     const rX = Matrix3d.createRowValues(\r\n    *        1, 0, 0,\r\n    *        0, Math.cos(x), -Math.sin(x),\r\n    *        0, Math.sin(x), Math.cos(x),\r\n    *      );\r\n    *      const rY = Matrix3d.createRowValues(\r\n    *        Math.cos(y), 0, Math.sin(y),\r\n    *        0, 1, 0,\r\n    *        -Math.sin(y), 0, Math.cos(y),\r\n    *      );\r\n    *      const rZ = Matrix3d.createRowValues(\r\n    *        Math.cos(z), -Math.sin(z), 0,\r\n    *        Math.sin(z), Math.cos(z), 0,\r\n    *        0, 0, 1,\r\n    *      );\r\n    *\r\n    * Then we replace sin(y) with -sin(y) because y rotation (i.e., pitch) is clockwise (alternatively, you\r\n    * can use transpose of rY in the matrix multiplication to get the same result)\r\n    */\r\n    return Matrix3d.createRowValues(\r\n      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n      sy, cy * sx, cy * cx,\r\n      result,\r\n    );\r\n  }\r\n  /**\r\n   * Returns true if this rotation does nothing.\r\n   * * If allowPeriodShift is false, any nonzero angle is considered a non-identity\r\n   * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.\r\n   */\r\n  public isIdentity(allowPeriodShift: boolean = true): boolean {\r\n    if (allowPeriodShift)\r\n      return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);\r\n    else\r\n      return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);\r\n  }\r\n  /** Return the largest angle in radians */\r\n  public maxAbsRadians(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the sum of the angles in squared radians */\r\n  public sumSquaredRadians(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the largest difference of angles (in radians) between this and other */\r\n  public maxDiffRadians(other: YawPitchRollAngles): number {\r\n    return Math.max(\r\n      this.yaw.radians - other.yaw.radians,\r\n      this.pitch.radians - other.pitch.radians,\r\n      this.roll.radians - other.roll.radians,\r\n    );\r\n  }\r\n  /** Return the largest angle in degrees. */\r\n  public maxAbsDegrees(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n  }\r\n  /** Return the sum of squared angles in degrees. */\r\n  public sumSquaredDegrees(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n  }\r\n  /** Return the largest difference of angles (in degrees) between this and other */\r\n  public maxDiffDegrees(other: YawPitchRollAngles): number {\r\n    return Math.max(\r\n      this.yaw.degrees - other.yaw.degrees,\r\n      this.pitch.degrees - other.pitch.degrees,\r\n      this.roll.degrees - other.roll.degrees,\r\n    );\r\n  }\r\n  /** Return an object from a Transform as an origin and YawPitchRollAngles. */\r\n  public static tryFromTransform(transform: Transform): {\r\n    origin: Point3d;\r\n    angles: YawPitchRollAngles | undefined;\r\n  } {\r\n    return {\r\n      origin: Point3d.createFrom(transform.origin),\r\n      angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),\r\n    };\r\n  }\r\n  /**\r\n   * Attempts to create a YawPitchRollAngles object from a Matrix3d.\r\n   * @param matrix rigid matrix to process. Caller can test for rigidity with [[Matrix3d.isRigid]] and\r\n   * ensure rigid input with [[Matrix3d.createRigidFromMatrix3d]] or [[Matrix3d.makeRigid]].\r\n   * @param result optional pre-allocated object to populate and return.\r\n   * @returns computed angles, or undefined if `matrix` is not rigid.\r\n   * * Even when undefined is returned, `result` (if supplied) is populated with angles that may be used with caution:\r\n   * their usefulness decreases the further `matrix` is from being rigid.\r\n   */\r\n  public static createFromMatrix3d(matrix: Matrix3d, result?: YawPitchRollAngles): YawPitchRollAngles | undefined {\r\n    /**\r\n     * The rotation matrix form is\r\n     *\r\n     * Matrix3d.createRowValues(\r\n     *      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n     *      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n     *      sy, cy * sx, cy * cx\r\n     * );\r\n     *\r\n     * where cx = cos(x), sx = sin(x), cy = cos(y), sy = sin(y), cz = cos(z), and sz = sin(z)\r\n     */\r\n    const sy = matrix.at(2, 0); // sin(y)\r\n    const cy = Math.sqrt(matrix.at(2, 1) * matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2)); // |cos(y)|\r\n    const pitchA = Angle.createAtan2(sy, cy); // with positive cosine\r\n    const pitchB = Angle.createAtan2(sy, -cy); // with negative cosine\r\n    const angles = result ? result : new YawPitchRollAngles();\r\n    /**\r\n     * If cos(y) = 0 then y = +-90 degrees so we have a gimbal lock.\r\n     * This means x and z can be anything as long as their sum x + z is constant.\r\n     * so we can pick z = 0 and calculate x (or pick x = 0 and calculate z).\r\n     * Math details can be found\r\n     * https://en.wikipedia.org/wiki/Gimbal_lock#Loss_of_a_degree_of_freedom_with_Euler_angles\r\n     *\r\n     * The rotation matrix for y = +-90 degrees and x = 0 becomes\r\n     *\r\n     * Matrix3d.createRowValues(\r\n     *      0, -sz, -+cz,\r\n     *      0, cz, -+sz,\r\n     *      +-1, 0, 0\r\n     * );\r\n     *\r\n     * so z = atan(sz/cz) = atan(-matrix.at(0, 1), matrix.at(1, 1))\r\n     */\r\n    if (cy < Geometry.smallAngleRadians) {\r\n      angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));\r\n      angles.pitch = pitchA; // this is an arbitrary choice. can pick pitchB instead.\r\n      angles.roll = Angle.createRadians(0.0);\r\n    } else {\r\n      /**\r\n       * positive cosine\r\n       * z = atan(sz/cz) = atan(matrix.at(1, 0), matrix.at(0, 0))\r\n       * x = atan(sx/cx) = atan(matrix.at(2, 1), matrix.at(2, 2))\r\n       */\r\n      const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));\r\n      const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));\r\n      // similar with negative cosine\r\n      const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));\r\n      const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));\r\n      // create YPR\r\n      const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);\r\n      const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);\r\n      // decide to pick yprA or yprB with smallest magnitude angles\r\n      const absFactor = 0.95;\r\n      const maxRadiansA = yprA.maxAbsRadians();\r\n      const maxRadiansB = yprB.maxAbsRadians();\r\n      if (maxRadiansA < absFactor * maxRadiansB) {\r\n        angles.setFrom(yprA);\r\n      } else if (maxRadiansB < absFactor * maxRadiansA) {\r\n        angles.setFrom(yprB);\r\n      } else {\r\n        const sumA = yprA.sumSquaredRadians();\r\n        const sumB = yprB.sumSquaredRadians();\r\n        if (sumA <= sumB) {\r\n          angles.setFrom(yprA);\r\n        } else {\r\n          angles.setFrom(yprB);\r\n        }\r\n      }\r\n    }\r\n    // sanity check\r\n    const matrix1 = angles.toMatrix3d();\r\n    return matrix.isAlmostEqual(matrix1) ? angles : undefined;\r\n  }\r\n}\r\n"]}
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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n*--------------------------------------------------------------------------------------------*/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n */\r\n\r\nimport { AngleProps, Geometry } from \"../Geometry\";\r\nimport { Angle } from \"./Angle\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d } from \"./Point3dVector3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n// cspell:word Tait\r\n\r\n/**\r\n * Angle properties of a `YawPitchRoll` orientation\r\n * @public\r\n */\r\nexport interface YawPitchRollProps {\r\n  /** yaw field */\r\n  yaw?: AngleProps;\r\n  /** pitch field */\r\n  pitch?: AngleProps;\r\n  /** roll field */\r\n  roll?: AngleProps;\r\n}\r\n\r\n/**\r\n * Three angles that determine the orientation of an object in space, sometimes referred to as [Tait–Bryan angles]\r\n * (https://en.wikipedia.org/wiki/Euler_angles).\r\n * * The matrix construction can be replicated by this logic:\r\n * * xyz coordinates have\r\n *   * x forward\r\n *   * y to left\r\n *   * z up\r\n * * Note that this is a right handed coordinate system.\r\n * * yaw is a rotation of x towards y, i.e. around positive z (counterclockwise):\r\n *     * `yawMatrix = Matrix3d.createRotationAroundAxisIndex(2, Angle.createDegrees(yawDegrees));`\r\n * * pitch is a rotation that raises x towards z, i.e. rotation around **negative y** (**clockwise**):\r\n *     * `pitchMatrix = Matrix3d.createRotationAroundAxisIndex(1, Angle.createDegrees(-pitchDegrees));`\r\n * * roll is rotation of y towards z, i.e. rotation around positive x (counterclockwise):\r\n *     * `rollMatrix = Matrix3d.createRotationAroundAxisIndex(0, Angle.createDegrees(rollDegrees));`\r\n * * The YPR matrix is the product\r\n *     * `result = yawMatrix.multiplyMatrixMatrix(pitchMatrix.multiplyMatrixMatrix(rollMatrix));`\r\n * * Note that this is for \"column based\" matrix with vectors multiplying on the right of the matrix.\r\n * Hence a vector is first rotated by roll, then the pitch, finally yaw. So multiplication order in\r\n * the sense of AxisOrder is `RPY` (i.e., XYZ), in contrast to the familiar name `YPR`.\r\n * @public\r\n */\r\nexport class YawPitchRollAngles {\r\n  /** The yaw angle: counterclockwise rotation angle around z  */\r\n  public yaw: Angle;\r\n  /** The pitch angle: **clockwise** rotation angle around y */\r\n  public pitch: Angle;\r\n  /** The roll angle: counterclockwise rotation angle around x */\r\n  public roll: Angle;\r\n  /**\r\n   * Constructor\r\n   * @param yaw counterclockwise rotation angle around z\r\n   * @param pitch **clockwise** rotation angle around y\r\n   * @param roll counterclockwise rotation angle around x\r\n   */\r\n  constructor(yaw: Angle = Angle.zero(), pitch: Angle = Angle.zero(), roll: Angle = Angle.zero()) {\r\n    this.yaw = yaw;\r\n    this.pitch = pitch;\r\n    this.roll = roll;\r\n  }\r\n  /** Freeze this YawPitchRollAngles */\r\n  public freeze(): Readonly<this> {\r\n    this.yaw.freeze();\r\n    this.pitch.freeze();\r\n    this.roll.freeze();\r\n    return Object.freeze(this);\r\n  }\r\n  /**\r\n   * Constructor for YawPitchRollAngles with angles in degrees.\r\n   * @param yawDegrees counterclockwise rotation angle (in degrees) around z\r\n   * @param pitchDegrees **clockwise** rotation angle (in degrees) around y\r\n   * @param rollDegrees counterclockwise rotation angle (in degrees) around x\r\n   */\r\n  public static createDegrees(yawDegrees: number, pitchDegrees: number, rollDegrees: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(\r\n      Angle.createDegrees(yawDegrees),\r\n      Angle.createDegrees(pitchDegrees),\r\n      Angle.createDegrees(rollDegrees),\r\n    );\r\n  }\r\n  /**\r\n   * Constructor for YawPitchRollAngles with angles in radians.\r\n   * @param yawRadians counterclockwise rotation angle (in radians) around z\r\n   * @param pitchRadians **clockwise** rotation angle (in radians) around y\r\n   * @param rollRadians counterclockwise rotation angle (in radians) around x\r\n   */\r\n  public static createRadians(yawRadians: number, pitchRadians: number, rollRadians: number): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(\r\n      Angle.createRadians(yawRadians),\r\n      Angle.createRadians(pitchRadians),\r\n      Angle.createRadians(rollRadians),\r\n    );\r\n  }\r\n  /** Construct a `YawPitchRoll` object from an object with 3 named angles */\r\n  public static fromJSON(json?: YawPitchRollProps): YawPitchRollAngles {\r\n    json = json ? json : {};\r\n    return new YawPitchRollAngles(\r\n      Angle.fromJSON(json.yaw),\r\n      Angle.fromJSON(json.pitch),\r\n      Angle.fromJSON(json.roll),\r\n    );\r\n  }\r\n  /** Populate yaw, pitch and roll fields using `Angle.fromJSON` */\r\n  public setFromJSON(json?: YawPitchRollProps): void {\r\n    json = json ? json : {};\r\n    this.yaw = Angle.fromJSON(json.yaw);\r\n    this.pitch = Angle.fromJSON(json.pitch);\r\n    this.roll = Angle.fromJSON(json.roll);\r\n  }\r\n  /**\r\n   * Convert to a JSON object of form { pitch: 20 , roll: 30 , yaw: 10 }. Angles are in degrees.\r\n   * Any values that are exactly zero (with tolerance `Geometry.smallAngleRadians`) are omitted.\r\n   */\r\n  public toJSON(): YawPitchRollProps {\r\n    const val: YawPitchRollProps = {};\r\n    if (!this.pitch.isAlmostZero)\r\n      val.pitch = this.pitch.toJSON();\r\n    if (!this.roll.isAlmostZero)\r\n      val.roll = this.roll.toJSON();\r\n    if (!this.yaw.isAlmostZero)\r\n      val.yaw = this.yaw.toJSON();\r\n    return val;\r\n  }\r\n  /**\r\n   * Install all rotations from `other` into `this`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public setFrom(other: YawPitchRollAngles) {\r\n    this.yaw.setFrom(other.yaw);\r\n    this.pitch.setFrom(other.pitch);\r\n    this.roll.setFrom(other.roll);\r\n  }\r\n  /**\r\n   * Compare angles between `this` and `other`.\r\n   * * Comparisons are via `isAlmostEqualAllowPeriodShift`.\r\n   * @param other YawPitchRollAngles source\r\n   */\r\n  public isAlmostEqual(other: YawPitchRollAngles): boolean {\r\n    return this.yaw.isAlmostEqualAllowPeriodShift(other.yaw)\r\n      && this.pitch.isAlmostEqualAllowPeriodShift(other.pitch)\r\n      && this.roll.isAlmostEqualAllowPeriodShift(other.roll);\r\n  }\r\n  /** Make a copy of this YawPitchRollAngles */\r\n  public clone(): YawPitchRollAngles {\r\n    return new YawPitchRollAngles(\r\n      this.yaw.clone(),\r\n      this.pitch.clone(),\r\n      this.roll.clone(),\r\n    );\r\n  }\r\n  /**\r\n   * Expand the angles into a (rigid rotation) matrix.\r\n   * * The returned matrix is \"rigid\" (i.e., it has unit length rows and columns, and its transpose is its inverse).\r\n   * * The rigid matrix is always a right handed coordinate system.\r\n   * @param result optional pre-allocated `Matrix3d`\r\n   */\r\n  public toMatrix3d(result?: Matrix3d): Matrix3d {\r\n    const cz = Math.cos(this.yaw.radians);\r\n    const sz = Math.sin(this.yaw.radians);\r\n    const cy = Math.cos(this.pitch.radians);\r\n    const sy = Math.sin(this.pitch.radians);\r\n    const cx = Math.cos(this.roll.radians);\r\n    const sx = Math.sin(this.roll.radians);\r\n    /**\r\n    * The axis order is XYZ (i.e., RPY) so the rotation matrix is calculated via rZ*rY*rX where\r\n    * rX, rY, and rZ are base rotation matrixes:\r\n    *\r\n    *     const rX = Matrix3d.createRowValues(\r\n    *        1, 0, 0,\r\n    *        0, Math.cos(x), -Math.sin(x),\r\n    *        0, Math.sin(x), Math.cos(x),\r\n    *      );\r\n    *      const rY = Matrix3d.createRowValues(\r\n    *        Math.cos(y), 0, Math.sin(y),\r\n    *        0, 1, 0,\r\n    *        -Math.sin(y), 0, Math.cos(y),\r\n    *      );\r\n    *      const rZ = Matrix3d.createRowValues(\r\n    *        Math.cos(z), -Math.sin(z), 0,\r\n    *        Math.sin(z), Math.cos(z), 0,\r\n    *        0, 0, 1,\r\n    *      );\r\n    *\r\n    * Then we replace sin(y) with -sin(y) because y rotation (i.e., pitch) is clockwise (alternatively, you\r\n    * can use transpose of rY in the matrix multiplication to get the same result)\r\n    */\r\n    return Matrix3d.createRowValues(\r\n      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n      sy, cy * sx, cy * cx,\r\n      result,\r\n    );\r\n  }\r\n  /**\r\n   * Returns true if this rotation does nothing.\r\n   * * If allowPeriodShift is false, any nonzero angle is considered a non-identity\r\n   * * If allowPeriodShift is true, all angles are individually allowed to be any multiple of 360 degrees.\r\n   */\r\n  public isIdentity(allowPeriodShift: boolean = true): boolean {\r\n    if (allowPeriodShift)\r\n      return Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansAllowPeriodShift(0.0, this.roll.radians);\r\n    else\r\n      return Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.yaw.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.pitch.radians)\r\n        && Angle.isAlmostEqualRadiansNoPeriodShift(0.0, this.roll.radians);\r\n  }\r\n  /** Return the largest angle in radians */\r\n  public maxAbsRadians(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the sum of the angles in squared radians */\r\n  public sumSquaredRadians(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.radians, this.pitch.radians, this.roll.radians);\r\n  }\r\n  /** Return the largest difference of angles (in radians) between this and other */\r\n  public maxDiffRadians(other: YawPitchRollAngles): number {\r\n    return Math.max(\r\n      this.yaw.radians - other.yaw.radians,\r\n      this.pitch.radians - other.pitch.radians,\r\n      this.roll.radians - other.roll.radians,\r\n    );\r\n  }\r\n  /** Return the largest angle in degrees. */\r\n  public maxAbsDegrees(): number {\r\n    return Geometry.maxAbsXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n  }\r\n  /** Return the sum of squared angles in degrees. */\r\n  public sumSquaredDegrees(): number {\r\n    return Geometry.hypotenuseSquaredXYZ(this.yaw.degrees, this.pitch.degrees, this.roll.degrees);\r\n  }\r\n  /** Return the largest difference of angles (in degrees) between this and other */\r\n  public maxDiffDegrees(other: YawPitchRollAngles): number {\r\n    return Math.max(\r\n      this.yaw.degrees - other.yaw.degrees,\r\n      this.pitch.degrees - other.pitch.degrees,\r\n      this.roll.degrees - other.roll.degrees,\r\n    );\r\n  }\r\n  /** Return an object from a Transform as an origin and YawPitchRollAngles. */\r\n  public static tryFromTransform(transform: Transform): {\r\n    origin: Point3d;\r\n    angles: YawPitchRollAngles | undefined;\r\n  } {\r\n    return {\r\n      origin: Point3d.createFrom(transform.origin),\r\n      angles: YawPitchRollAngles.createFromMatrix3d(transform.matrix),\r\n    };\r\n  }\r\n  /**\r\n   * Attempts to create a YawPitchRollAngles object from a Matrix3d.\r\n   * @param matrix rigid matrix to process. Caller can test for rigidity with [[Matrix3d.isRigid]] and\r\n   * ensure rigid input with [[Matrix3d.createRigidFromMatrix3d]] or [[Matrix3d.makeRigid]].\r\n   * @param result optional pre-allocated object to populate and return.\r\n   * @returns computed angles, or undefined if `matrix` is not rigid.\r\n   * * Even when undefined is returned, `result` (if supplied) is populated with angles that may be used with caution:\r\n   * their usefulness decreases the further `matrix` is from being rigid.\r\n   */\r\n  public static createFromMatrix3d(matrix: Matrix3d, result?: YawPitchRollAngles): YawPitchRollAngles | undefined {\r\n    /**\r\n     * The rotation matrix form is\r\n     *\r\n     * Matrix3d.createRowValues(\r\n     *      cz * cy, -(sz * cx + cz * sy * sx), (sz * sx - cz * sy * cx),\r\n     *      sz * cy, (cz * cx - sz * sy * sx), -(cz * sx + sz * sy * cx),\r\n     *      sy, cy * sx, cy * cx\r\n     * );\r\n     *\r\n     * where cx = cos(x), sx = sin(x), cy = cos(y), sy = sin(y), cz = cos(z), and sz = sin(z)\r\n     */\r\n    const sy = matrix.at(2, 0); // sin(y)\r\n    const cy = Math.sqrt(matrix.at(2, 1) * matrix.at(2, 1) + matrix.at(2, 2) * matrix.at(2, 2)); // |cos(y)|\r\n    const pitchA = Angle.createAtan2(sy, cy); // with positive cosine\r\n    const pitchB = Angle.createAtan2(sy, -cy); // with negative cosine\r\n    const angles = result ? result : new YawPitchRollAngles();\r\n    /**\r\n     * If cos(y) = 0 then y = +-90 degrees so we have a gimbal lock.\r\n     * This means x and z can be anything as long as their sum x + z is constant.\r\n     * so we can pick z = 0 and calculate x (or pick x = 0 and calculate z).\r\n     * Math details can be found\r\n     * https://en.wikipedia.org/wiki/Gimbal_lock#Loss_of_a_degree_of_freedom_with_Euler_angles\r\n     *\r\n     * The rotation matrix for y = +-90 degrees and x = 0 becomes\r\n     *\r\n     * Matrix3d.createRowValues(\r\n     *      0, -sz, -+cz,\r\n     *      0, cz, -+sz,\r\n     *      +-1, 0, 0\r\n     * );\r\n     *\r\n     * so z = atan(sz/cz) = atan(-matrix.at(0, 1), matrix.at(1, 1))\r\n     */\r\n    if (cy < Geometry.smallAngleRadians) {\r\n      angles.yaw = Angle.createAtan2(-matrix.at(0, 1), matrix.at(1, 1));\r\n      angles.pitch = pitchA; // this is an arbitrary choice. can pick pitchB instead.\r\n      angles.roll = Angle.createRadians(0.0);\r\n    } else {\r\n      /**\r\n       * positive cosine\r\n       * z = atan(sz/cz) = atan(matrix.at(1, 0), matrix.at(0, 0))\r\n       * x = atan(sx/cx) = atan(matrix.at(2, 1), matrix.at(2, 2))\r\n       */\r\n      const yawA = Angle.createAtan2(matrix.at(1, 0), matrix.at(0, 0));\r\n      const rollA = Angle.createAtan2(matrix.at(2, 1), matrix.at(2, 2));\r\n      // similar with negative cosine\r\n      const yawB = Angle.createAtan2(-matrix.at(1, 0), -matrix.at(0, 0));\r\n      const rollB = Angle.createAtan2(-matrix.at(2, 1), -matrix.at(2, 2));\r\n      // create YPR\r\n      const yprA = new YawPitchRollAngles(yawA, pitchA, rollA);\r\n      const yprB = new YawPitchRollAngles(yawB, pitchB, rollB);\r\n      // decide to pick yprA or yprB with smallest magnitude angles\r\n      const absFactor = 0.95;\r\n      const maxRadiansA = yprA.maxAbsRadians();\r\n      const maxRadiansB = yprB.maxAbsRadians();\r\n      if (maxRadiansA < absFactor * maxRadiansB) {\r\n        angles.setFrom(yprA);\r\n      } else if (maxRadiansB < absFactor * maxRadiansA) {\r\n        angles.setFrom(yprB);\r\n      } else {\r\n        const sumA = yprA.sumSquaredRadians();\r\n        const sumB = yprB.sumSquaredRadians();\r\n        if (sumA <= sumB) {\r\n          angles.setFrom(yprA);\r\n        } else {\r\n          angles.setFrom(yprB);\r\n        }\r\n      }\r\n    }\r\n    // sanity check\r\n    const matrix1 = angles.toMatrix3d();\r\n    return matrix.isAlmostEqual(matrix1) ? angles : undefined;\r\n  }\r\n}\r\n"]}

package/lib/esm/numerics/BezierPolynomials.d.ts.map

@@ -1 +1 @@
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package/lib/esm/numerics/BezierPolynomials.js

@@ -9,7 +9,6 @@
 import { Geometry } from "../Geometry";
 import { PascalCoefficients } from "./PascalCoefficients";
 import { AnalyticRoots, Degree2PowerPolynomial } from "./Polynomials";
-/* eslint-disable @typescript-eslint/naming-convention */
 /**
  * * BezierCoffs is an abstract base class for one-dimensional (u to f(u)) Bezier polynomials.
  * * The base class carries a Float64Array with coefficients.