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[wpimath] Clarify Rotation3d roll-pitch-yaw direction (#4699)

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Tyler Veness
2022-11-23 23:12:59 -08:00
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parent 9f0a8b930f
commit 2ee3d86de4
2 changed files with 8 additions and 0 deletions
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wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
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@@ -45,6 +45,10 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
* <p>Extrinsic rotations occur in that order around the axes in the fixed global frame rather
* than the body frame.
*
* <p>Angles are measured counterclockwise with the rotation axis pointing "out of the page". If
* you point your right thumb along the positive axis direction, your fingers curl in the
* direction of positive rotation.
*
* @param roll The counterclockwise rotation angle around the X axis (roll) in radians.
* @param pitch The counterclockwise rotation angle around the Y axis (pitch) in radians.
* @param yaw The counterclockwise rotation angle around the Z axis (yaw) in radians.