public final class Quaternion extends GeneratedMessageV3 implements QuaternionOrBuilder
A quaternion is defined as the quotient of two directed lines in a three-dimensional space or equivalently as the quotient of two Euclidean vectors (https://en.wikipedia.org/wiki/Quaternion). Quaternions are often used in calculations involving three-dimensional rotations (https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation), as they provide greater mathematical robustness by avoiding the gimbal lock problems that can be encountered when using Euler angles (https://en.wikipedia.org/wiki/Gimbal_lock). Quaternions are generally represented in this form: w + xi + yj + zk where x, y, z, and w are real numbers, and i, j, and k are three imaginary numbers. Our naming choice (x, y, z, w) comes from the desire to avoid confusion for those interested in the geometric properties of the quaternion in the 3D Cartesian space. Other texts often use alternative names or subscripts, such as (a, b, c, d), (1, i, j, k), or (0, 1, 2, 3), which are perhaps better suited for mathematical interpretations. To avoid any confusion, as well as to maintain compatibility with a large number of software libraries, the quaternions represented using the protocol buffer below *must* follow the Hamilton convention, which defines ij = k (i.e. a right-handed algebra), and therefore: i^2 = j^2 = k^2 = ijk = −1 ij = −ji = k jk = −kj = i ki = −ik = j Please DO NOT use this to represent quaternions that follow the JPL convention, or any of the other quaternion flavors out there. Definitions: - Quaternion norm (or magnitude): sqrt(x^2 + y^2 + z^2 + w^2). - Unit (or normalized) quaternion: a quaternion whose norm is 1. - Pure quaternion: a quaternion whose scalar component (w) is 0. - Rotation quaternion: a unit quaternion used to represent rotation. - Orientation quaternion: a unit quaternion used to represent orientation. A quaternion can be normalized by dividing it by its norm. The resulting quaternion maintains the same direction, but has a norm of 1, i.e. it moves on the unit sphere. This is generally necessary for rotation and orientation quaternions, to avoid rounding errors: https://en.wikipedia.org/wiki/Rotation_formalisms_in_three_dimensions Note that (x, y, z, w) and (-x, -y, -z, -w) represent the same rotation, but normalization would be even more useful, e.g. for comparison purposes, if it would produce a unique representation. It is thus recommended that w be kept positive, which can be achieved by changing all the signs when w is negative. Next available tag: 5Protobuf type
google.type.Quaternion
Modifier and Type | Class and Description |
---|---|
static class |
Quaternion.Builder
A quaternion is defined as the quotient of two directed lines in a
three-dimensional space or equivalently as the quotient of two Euclidean
vectors (https://en.wikipedia.org/wiki/Quaternion).
|
GeneratedMessageV3.BuilderParent, GeneratedMessageV3.ExtendableBuilder<MessageType extends GeneratedMessageV3.ExtendableMessage,BuilderType extends GeneratedMessageV3.ExtendableBuilder<MessageType,BuilderType>>, GeneratedMessageV3.ExtendableMessage<MessageType extends GeneratedMessageV3.ExtendableMessage>, GeneratedMessageV3.ExtendableMessageOrBuilder<MessageType extends GeneratedMessageV3.ExtendableMessage>, GeneratedMessageV3.FieldAccessorTable
Modifier and Type | Field and Description |
---|---|
static int |
W_FIELD_NUMBER |
static int |
X_FIELD_NUMBER |
static int |
Y_FIELD_NUMBER |
static int |
Z_FIELD_NUMBER |
alwaysUseFieldBuilders, unknownFields
memoizedSize
memoizedHashCode
canUseUnsafe, computeStringSize, computeStringSizeNoTag, emptyBooleanList, emptyDoubleList, emptyFloatList, emptyIntList, emptyLongList, getAllFields, getDescriptorForType, getField, getOneofFieldDescriptor, getRepeatedField, getRepeatedFieldCount, hasField, hasOneof, internalGetMapField, makeExtensionsImmutable, mutableCopy, mutableCopy, mutableCopy, mutableCopy, mutableCopy, newBooleanList, newBuilderForType, newDoubleList, newFloatList, newIntList, newLongList, parseDelimitedWithIOException, parseDelimitedWithIOException, parseUnknownField, parseUnknownFieldProto3, parseWithIOException, parseWithIOException, parseWithIOException, parseWithIOException, serializeBooleanMapTo, serializeIntegerMapTo, serializeLongMapTo, serializeStringMapTo, writeReplace, writeString, writeStringNoTag
findInitializationErrors, getInitializationErrorString, hashBoolean, hashEnum, hashEnumList, hashFields, hashLong, toString
addAll, addAll, checkByteStringIsUtf8, toByteArray, toByteString, writeDelimitedTo, writeTo
clone, finalize, getClass, notify, notifyAll, wait, wait, wait
findInitializationErrors, getAllFields, getDescriptorForType, getField, getInitializationErrorString, getOneofFieldDescriptor, getRepeatedField, getRepeatedFieldCount, hasField, hasOneof
toByteArray, toByteString, writeDelimitedTo, writeTo
public static final int X_FIELD_NUMBER
public static final int Y_FIELD_NUMBER
public static final int Z_FIELD_NUMBER
public static final int W_FIELD_NUMBER
public final UnknownFieldSet getUnknownFields()
getUnknownFields
in interface MessageOrBuilder
getUnknownFields
in class GeneratedMessageV3
public static final Descriptors.Descriptor getDescriptor()
protected GeneratedMessageV3.FieldAccessorTable internalGetFieldAccessorTable()
internalGetFieldAccessorTable
in class GeneratedMessageV3
public double getX()
The x component.
double x = 1;
getX
in interface QuaternionOrBuilder
public double getY()
The y component.
double y = 2;
getY
in interface QuaternionOrBuilder
public double getZ()
The z component.
double z = 3;
getZ
in interface QuaternionOrBuilder
public double getW()
The scalar component.
double w = 4;
getW
in interface QuaternionOrBuilder
public final boolean isInitialized()
isInitialized
in interface MessageLiteOrBuilder
isInitialized
in class GeneratedMessageV3
public void writeTo(CodedOutputStream output) throws java.io.IOException
writeTo
in interface MessageLite
writeTo
in class GeneratedMessageV3
java.io.IOException
public int getSerializedSize()
getSerializedSize
in interface MessageLite
getSerializedSize
in class GeneratedMessageV3
public boolean equals(java.lang.Object obj)
equals
in interface Message
equals
in class AbstractMessage
public int hashCode()
hashCode
in interface Message
hashCode
in class AbstractMessage
public static Quaternion parseFrom(java.nio.ByteBuffer data) throws InvalidProtocolBufferException
InvalidProtocolBufferException
public static Quaternion parseFrom(java.nio.ByteBuffer data, ExtensionRegistryLite extensionRegistry) throws InvalidProtocolBufferException
InvalidProtocolBufferException
public static Quaternion parseFrom(ByteString data) throws InvalidProtocolBufferException
InvalidProtocolBufferException
public static Quaternion parseFrom(ByteString data, ExtensionRegistryLite extensionRegistry) throws InvalidProtocolBufferException
InvalidProtocolBufferException
public static Quaternion parseFrom(byte[] data) throws InvalidProtocolBufferException
InvalidProtocolBufferException
public static Quaternion parseFrom(byte[] data, ExtensionRegistryLite extensionRegistry) throws InvalidProtocolBufferException
InvalidProtocolBufferException
public static Quaternion parseFrom(java.io.InputStream input) throws java.io.IOException
java.io.IOException
public static Quaternion parseFrom(java.io.InputStream input, ExtensionRegistryLite extensionRegistry) throws java.io.IOException
java.io.IOException
public static Quaternion parseDelimitedFrom(java.io.InputStream input) throws java.io.IOException
java.io.IOException
public static Quaternion parseDelimitedFrom(java.io.InputStream input, ExtensionRegistryLite extensionRegistry) throws java.io.IOException
java.io.IOException
public static Quaternion parseFrom(CodedInputStream input) throws java.io.IOException
java.io.IOException
public static Quaternion parseFrom(CodedInputStream input, ExtensionRegistryLite extensionRegistry) throws java.io.IOException
java.io.IOException
public Quaternion.Builder newBuilderForType()
newBuilderForType
in interface Message
newBuilderForType
in interface MessageLite
public static Quaternion.Builder newBuilder()
public static Quaternion.Builder newBuilder(Quaternion prototype)
public Quaternion.Builder toBuilder()
toBuilder
in interface Message
toBuilder
in interface MessageLite
protected Quaternion.Builder newBuilderForType(GeneratedMessageV3.BuilderParent parent)
newBuilderForType
in class GeneratedMessageV3
public static Quaternion getDefaultInstance()
public static Parser<Quaternion> parser()
public Parser<Quaternion> getParserForType()
getParserForType
in interface Message
getParserForType
in interface MessageLite
getParserForType
in class GeneratedMessageV3
public Quaternion getDefaultInstanceForType()
getDefaultInstanceForType
in interface MessageLiteOrBuilder
getDefaultInstanceForType
in interface MessageOrBuilder