Package georegression.struct.so

Class Quaternion_F32

java.lang.Object

georegression.struct.so.Quaternion_F32

All Implemented Interfaces:

Serializable

@Generated("georegression.struct.so.Quaternion_F64")
public class Quaternion_F32
extends Object
implements Serializable

Specifies a 3D rotation using a quaternion. q = w + x*i + y*j + z*k, where (w,x,y,z) are the parameters of the quaternion and (i,j,k) are unit vectors representing the Cartesian axis.

If the quaternion is a unit quaternion then the following is true:
q = cos(theta/2) + (x*i + y*j + z*k)*sin(theta/2)
where 'theta' is the angle of rotation, (x,y,z) is the unit axis of rotation.

See Also:

• Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
float	w	Describes the angle of rotation.
float	x	Axis of rotation
float	y	Axis of rotation
float	z	Axis of rotation

Constructor Summary

Constructors

Constructor	Description
Quaternion_F32()
Quaternion_F32(float w, float x, float y, float z)

Method Summary

Modifier and Type	Method	Description
boolean	isIdentical(Quaternion_F32 q, float tol)	Returns true if the two quaternions are identical.
float	norm()	Returns the f-norm of this quaternion
void	normalize()	Converts the quaternion into a unit quaternion.
Quaternion_F32	setTo(float w, float x, float y, float z)
Quaternion_F32	setTo(Quaternion_F32 quaternion)
String	toString()

Methods inherited from class java.lang.Object

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

Field Details

w

public float w

Describes the angle of rotation. See above for how it is encoded.

x

public float x

Axis of rotation

y

public float y

Axis of rotation

z

public float z

Axis of rotation

Constructor Details

Quaternion_F32

public Quaternion_F32()

Quaternion_F32

public Quaternion_F32(float w,
 float x,
 float y,
 float z)

Method Details

setTo

public Quaternion_F32 setTo(Quaternion_F32 quaternion)

setTo

public Quaternion_F32 setTo(float w,
 float x,
 float y,
 float z)

normalize

public void normalize()

Converts the quaternion into a unit quaternion.

norm

public float norm()

Returns the f-norm of this quaternion

isIdentical

public boolean isIdentical(Quaternion_F32 q,
 float tol)

Returns true if the two quaternions are identical. Note that they might be equivalent and fail this test

toString

public String toString()

Overrides:

toString in class Object