georegression.struct.so

Class Quaternion_F64

java.lang.Object

georegression.struct.so.Quaternion_F64

All Implemented Interfaces:

java.io.Serializable

public class Quaternion_F64
extends java.lang.Object
implements java.io.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 and 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 and Description
Quaternion_F64()
Quaternion_F64(double w, double x, double y, double z)

Method Summary

Modifier and Type	Method and Description
void	normalize() Converts the quaternion into a unit quaternion.
void	set(double w, double x, double y, double z)
void	set(Quaternion_F64 quaternion)
java.lang.String	toString()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

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 Detail

Quaternion_F64

public Quaternion_F64()

Quaternion_F64

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

Method Detail

set

public void set(Quaternion_F64 quaternion)

set

public void set(double w,
                double x,
                double y,
                double z)

normalize

public void normalize()

Converts the quaternion into a unit quaternion.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object