Package georegression.struct.so

Class Quaternion_F64

java.lang.Object

georegression.struct.so.Quaternion_F64

All Implemented Interfaces:

Serializable

public class Quaternion_F64
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
double	w	Describes the angle of rotation.
double	x	Axis of rotation
double	y	Axis of rotation
double	z	Axis of rotation

Constructor Summary

Constructors

Constructor	Description
Quaternion_F64()
Quaternion_F64(double w, double x, double y, double z)

Method Summary

Modifier and Type	Method	Description
boolean	isIdentical(Quaternion_F64 q, double tol)	Returns true if the two quaternions are identical.
double	norm()	Returns the f-norm of this quaternion
void	normalize()	Converts the quaternion into a unit quaternion.
Quaternion_F64	setTo(double w, double x, double y, double z)
Quaternion_F64	setTo(Quaternion_F64 quaternion)
String	toString()

Methods inherited from class java.lang.Object

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

Field Details

w

public double w

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

x

public double x

Axis of rotation

y

public double y

Axis of rotation

z

public double z

Axis of rotation

Constructor Details

Quaternion_F64

public Quaternion_F64()

Quaternion_F64

public Quaternion_F64(double w,
 double x,
 double y,
 double z)

Method Details

setTo

public Quaternion_F64 setTo(Quaternion_F64 quaternion)

setTo

public Quaternion_F64 setTo(double w,
 double x,
 double y,
 double z)

normalize

public void normalize()

Converts the quaternion into a unit quaternion.

norm

public double norm()

Returns the f-norm of this quaternion

isIdentical

public boolean isIdentical(Quaternion_F64 q,
 double 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