Class Quaternion

  • All Implemented Interfaces:
    com.google.protobuf.GeneratedMessage.ExtendableMessageOrBuilder<com.google.protobuf.GeneratedMessageV3>, com.google.protobuf.Message, com.google.protobuf.MessageLite, com.google.protobuf.MessageLiteOrBuilder, com.google.protobuf.MessageOrBuilder, QuaternionOrBuilder, java.io.Serializable

    public final class Quaternion
    extends com.google.protobuf.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.
     
    Protobuf type google.type.Quaternion
    See Also:
    Serialized Form
    • Nested Class Summary

      Nested Classes 
      Modifier and Type Class 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).
      • Nested classes/interfaces inherited from class com.google.protobuf.GeneratedMessageV3

        com.google.protobuf.GeneratedMessageV3.BuilderParent, com.google.protobuf.GeneratedMessageV3.ExtendableBuilder<MessageT extends com.google.protobuf.GeneratedMessageV3.ExtendableMessage<MessageT>,​BuilderT extends com.google.protobuf.GeneratedMessageV3.ExtendableBuilder<MessageT,​BuilderT>>, com.google.protobuf.GeneratedMessageV3.ExtendableMessage<MessageT extends com.google.protobuf.GeneratedMessageV3.ExtendableMessage<MessageT>>, com.google.protobuf.GeneratedMessageV3.ExtendableMessageOrBuilder<MessageT extends com.google.protobuf.GeneratedMessageV3.ExtendableMessage<MessageT>>, com.google.protobuf.GeneratedMessageV3.FieldAccessorTable, com.google.protobuf.GeneratedMessageV3.UnusedPrivateParameter
      • Nested classes/interfaces inherited from class com.google.protobuf.GeneratedMessage.ExtendableMessage

        com.google.protobuf.GeneratedMessage.ExtendableMessage.ExtensionSerializer, com.google.protobuf.GeneratedMessage.ExtendableMessage.ExtensionWriter
      • Nested classes/interfaces inherited from class com.google.protobuf.GeneratedMessage

        com.google.protobuf.GeneratedMessage.GeneratedExtension<ContainingT extends com.google.protobuf.Message,​T extends java.lang.Object>
      • Nested classes/interfaces inherited from class com.google.protobuf.AbstractMessageLite

        com.google.protobuf.AbstractMessageLite.InternalOneOfEnum
    • Field Summary

      Fields 
      Modifier and Type Field Description
      static int W_FIELD_NUMBER  
      static int X_FIELD_NUMBER  
      static int Y_FIELD_NUMBER  
      static int Z_FIELD_NUMBER  
      • Fields inherited from class com.google.protobuf.GeneratedMessage

        alwaysUseFieldBuilders, unknownFields
      • Fields inherited from class com.google.protobuf.AbstractMessage

        memoizedSize
      • Fields inherited from class com.google.protobuf.AbstractMessageLite

        memoizedHashCode
    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      boolean equals​(java.lang.Object obj)  
      static Quaternion getDefaultInstance()  
      Quaternion getDefaultInstanceForType()  
      static com.google.protobuf.Descriptors.Descriptor getDescriptor()  
      com.google.protobuf.Parser<Quaternion> getParserForType()  
      int getSerializedSize()  
      double getW()
      The scalar component.
      double getX()
      The x component.
      double getY()
      The y component.
      double getZ()
      The z component.
      int hashCode()  
      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable internalGetFieldAccessorTable()  
      boolean isInitialized()  
      static Quaternion.Builder newBuilder()  
      static Quaternion.Builder newBuilder​(Quaternion prototype)  
      Quaternion.Builder newBuilderForType()  
      protected Quaternion.Builder newBuilderForType​(com.google.protobuf.GeneratedMessageV3.BuilderParent parent)  
      protected java.lang.Object newInstance​(com.google.protobuf.GeneratedMessageV3.UnusedPrivateParameter unused)  
      static Quaternion parseDelimitedFrom​(java.io.InputStream input)  
      static Quaternion parseDelimitedFrom​(java.io.InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry)  
      static Quaternion parseFrom​(byte[] data)  
      static Quaternion parseFrom​(byte[] data, com.google.protobuf.ExtensionRegistryLite extensionRegistry)  
      static Quaternion parseFrom​(com.google.protobuf.ByteString data)  
      static Quaternion parseFrom​(com.google.protobuf.ByteString data, com.google.protobuf.ExtensionRegistryLite extensionRegistry)  
      static Quaternion parseFrom​(com.google.protobuf.CodedInputStream input)  
      static Quaternion parseFrom​(com.google.protobuf.CodedInputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry)  
      static Quaternion parseFrom​(java.io.InputStream input)  
      static Quaternion parseFrom​(java.io.InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry)  
      static Quaternion parseFrom​(java.nio.ByteBuffer data)  
      static Quaternion parseFrom​(java.nio.ByteBuffer data, com.google.protobuf.ExtensionRegistryLite extensionRegistry)  
      static com.google.protobuf.Parser<Quaternion> parser()  
      Quaternion.Builder toBuilder()  
      void writeTo​(com.google.protobuf.CodedOutputStream output)  
      • Methods inherited from class com.google.protobuf.GeneratedMessageV3

        mutableCopy, mutableCopy, mutableCopy, mutableCopy, mutableCopy, newBuilderForType
      • Methods inherited from class com.google.protobuf.GeneratedMessage.ExtendableMessage

        extensionsAreInitialized, extensionsSerializedSize, extensionsSerializedSizeAsMessageSet, getAllFields, getAllFieldsRaw, getExtension, getExtension, getExtensionCount, getExtensionFields, getField, getRepeatedField, getRepeatedFieldCount, hasExtension, hasField, newExtensionSerializer, newExtensionWriter, newMessageSetExtensionSerializer, newMessageSetExtensionWriter
      • Methods inherited from class com.google.protobuf.GeneratedMessage

        canUseUnsafe, computeStringSize, computeStringSizeNoTag, emptyBooleanList, emptyDoubleList, emptyFloatList, emptyIntList, emptyList, emptyLongList, getDescriptorForType, getOneofFieldDescriptor, getUnknownFields, hasOneof, internalGetMapField, internalGetMapFieldReflection, isStringEmpty, makeMutableCopy, makeMutableCopy, mergeFromAndMakeImmutableInternal, newFileScopedGeneratedExtension, newInstance, newMessageScopedGeneratedExtension, parseDelimitedWithIOException, parseDelimitedWithIOException, parseUnknownField, parseUnknownFieldProto3, parseWithIOException, parseWithIOException, parseWithIOException, parseWithIOException, serializeBooleanMapTo, serializeIntegerMapTo, serializeLongMapTo, serializeStringMapTo, writeReplace, writeString, writeStringNoTag
      • Methods inherited from class com.google.protobuf.AbstractMessage

        findInitializationErrors, getInitializationErrorString, hashFields, toString
      • Methods inherited from class com.google.protobuf.AbstractMessageLite

        addAll, checkByteStringIsUtf8, toByteArray, toByteString, writeDelimitedTo, writeTo
      • Methods inherited from class java.lang.Object

        clone, finalize, getClass, notify, notifyAll, wait, wait, wait
      • Methods inherited from interface com.google.protobuf.MessageLite

        toByteArray, toByteString, writeDelimitedTo, writeTo
      • Methods inherited from interface com.google.protobuf.MessageOrBuilder

        findInitializationErrors, getAllFields, getDescriptorForType, getField, getInitializationErrorString, getOneofFieldDescriptor, getRepeatedField, getRepeatedFieldCount, getUnknownFields, hasField, hasOneof
    • Method Detail

      • newInstance

        protected java.lang.Object newInstance​(com.google.protobuf.GeneratedMessageV3.UnusedPrivateParameter unused)
        Overrides:
        newInstance in class com.google.protobuf.GeneratedMessageV3
      • getDescriptor

        public static final com.google.protobuf.Descriptors.Descriptor getDescriptor()
      • internalGetFieldAccessorTable

        protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable internalGetFieldAccessorTable()
        Overrides:
        internalGetFieldAccessorTable in class com.google.protobuf.GeneratedMessageV3
      • getX

        public double getX()
         The x component.
         
        double x = 1;
        Specified by:
        getX in interface QuaternionOrBuilder
        Returns:
        The x.
      • getY

        public double getY()
         The y component.
         
        double y = 2;
        Specified by:
        getY in interface QuaternionOrBuilder
        Returns:
        The y.
      • getZ

        public double getZ()
         The z component.
         
        double z = 3;
        Specified by:
        getZ in interface QuaternionOrBuilder
        Returns:
        The z.
      • getW

        public double getW()
         The scalar component.
         
        double w = 4;
        Specified by:
        getW in interface QuaternionOrBuilder
        Returns:
        The w.
      • isInitialized

        public final boolean isInitialized()
        Specified by:
        isInitialized in interface com.google.protobuf.MessageLiteOrBuilder
        Overrides:
        isInitialized in class com.google.protobuf.GeneratedMessage.ExtendableMessage<com.google.protobuf.GeneratedMessageV3>
      • writeTo

        public void writeTo​(com.google.protobuf.CodedOutputStream output)
                     throws java.io.IOException
        Specified by:
        writeTo in interface com.google.protobuf.MessageLite
        Overrides:
        writeTo in class com.google.protobuf.GeneratedMessage
        Throws:
        java.io.IOException
      • getSerializedSize

        public int getSerializedSize()
        Specified by:
        getSerializedSize in interface com.google.protobuf.MessageLite
        Overrides:
        getSerializedSize in class com.google.protobuf.GeneratedMessage
      • equals

        public boolean equals​(java.lang.Object obj)
        Specified by:
        equals in interface com.google.protobuf.Message
        Overrides:
        equals in class com.google.protobuf.AbstractMessage
      • hashCode

        public int hashCode()
        Specified by:
        hashCode in interface com.google.protobuf.Message
        Overrides:
        hashCode in class com.google.protobuf.AbstractMessage
      • parseFrom

        public static Quaternion parseFrom​(java.nio.ByteBuffer data)
                                    throws com.google.protobuf.InvalidProtocolBufferException
        Throws:
        com.google.protobuf.InvalidProtocolBufferException
      • parseFrom

        public static Quaternion parseFrom​(java.nio.ByteBuffer data,
                                           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
                                    throws com.google.protobuf.InvalidProtocolBufferException
        Throws:
        com.google.protobuf.InvalidProtocolBufferException
      • parseFrom

        public static Quaternion parseFrom​(com.google.protobuf.ByteString data)
                                    throws com.google.protobuf.InvalidProtocolBufferException
        Throws:
        com.google.protobuf.InvalidProtocolBufferException
      • parseFrom

        public static Quaternion parseFrom​(com.google.protobuf.ByteString data,
                                           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
                                    throws com.google.protobuf.InvalidProtocolBufferException
        Throws:
        com.google.protobuf.InvalidProtocolBufferException
      • parseFrom

        public static Quaternion parseFrom​(byte[] data)
                                    throws com.google.protobuf.InvalidProtocolBufferException
        Throws:
        com.google.protobuf.InvalidProtocolBufferException
      • parseFrom

        public static Quaternion parseFrom​(byte[] data,
                                           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
                                    throws com.google.protobuf.InvalidProtocolBufferException
        Throws:
        com.google.protobuf.InvalidProtocolBufferException
      • parseFrom

        public static Quaternion parseFrom​(java.io.InputStream input)
                                    throws java.io.IOException
        Throws:
        java.io.IOException
      • parseFrom

        public static Quaternion parseFrom​(java.io.InputStream input,
                                           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
                                    throws java.io.IOException
        Throws:
        java.io.IOException
      • parseDelimitedFrom

        public static Quaternion parseDelimitedFrom​(java.io.InputStream input)
                                             throws java.io.IOException
        Throws:
        java.io.IOException
      • parseDelimitedFrom

        public static Quaternion parseDelimitedFrom​(java.io.InputStream input,
                                                    com.google.protobuf.ExtensionRegistryLite extensionRegistry)
                                             throws java.io.IOException
        Throws:
        java.io.IOException
      • parseFrom

        public static Quaternion parseFrom​(com.google.protobuf.CodedInputStream input)
                                    throws java.io.IOException
        Throws:
        java.io.IOException
      • parseFrom

        public static Quaternion parseFrom​(com.google.protobuf.CodedInputStream input,
                                           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
                                    throws java.io.IOException
        Throws:
        java.io.IOException
      • newBuilderForType

        public Quaternion.Builder newBuilderForType()
        Specified by:
        newBuilderForType in interface com.google.protobuf.Message
        Specified by:
        newBuilderForType in interface com.google.protobuf.MessageLite
      • toBuilder

        public Quaternion.Builder toBuilder()
        Specified by:
        toBuilder in interface com.google.protobuf.Message
        Specified by:
        toBuilder in interface com.google.protobuf.MessageLite
      • newBuilderForType

        protected Quaternion.Builder newBuilderForType​(com.google.protobuf.GeneratedMessageV3.BuilderParent parent)
        Specified by:
        newBuilderForType in class com.google.protobuf.GeneratedMessageV3
      • getDefaultInstance

        public static Quaternion getDefaultInstance()
      • parser

        public static com.google.protobuf.Parser<Quaternion> parser()
      • getParserForType

        public com.google.protobuf.Parser<Quaternion> getParserForType()
        Specified by:
        getParserForType in interface com.google.protobuf.Message
        Specified by:
        getParserForType in interface com.google.protobuf.MessageLite
        Overrides:
        getParserForType in class com.google.protobuf.GeneratedMessage
      • getDefaultInstanceForType

        public Quaternion getDefaultInstanceForType()
        Specified by:
        getDefaultInstanceForType in interface com.google.protobuf.GeneratedMessage.ExtendableMessageOrBuilder<com.google.protobuf.GeneratedMessageV3>
        Specified by:
        getDefaultInstanceForType in interface com.google.protobuf.MessageLiteOrBuilder
        Specified by:
        getDefaultInstanceForType in interface com.google.protobuf.MessageOrBuilder