Package com.google.type
Class Quaternion
- java.lang.Object
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- com.google.protobuf.AbstractMessageLite
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- com.google.protobuf.AbstractMessage
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- com.google.protobuf.GeneratedMessage
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- com.google.protobuf.GeneratedMessage.ExtendableMessage<com.google.protobuf.GeneratedMessageV3>
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- com.google.protobuf.GeneratedMessageV3
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- com.google.type.Quaternion
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- 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 typegoogle.type.Quaternion
- See Also:
- Serialized Form
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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
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Nested classes/interfaces inherited from class com.google.protobuf.GeneratedMessage.ExtendableMessage
com.google.protobuf.GeneratedMessage.ExtendableMessage.ExtensionSerializer, com.google.protobuf.GeneratedMessage.ExtendableMessage.ExtensionWriter
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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
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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)
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Methods inherited from class com.google.protobuf.GeneratedMessageV3
mutableCopy, mutableCopy, mutableCopy, mutableCopy, mutableCopy, newBuilderForType
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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
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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
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Methods inherited from class com.google.protobuf.AbstractMessage
findInitializationErrors, getInitializationErrorString, hashFields, toString
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Methods inherited from class com.google.protobuf.AbstractMessageLite
addAll, checkByteStringIsUtf8, toByteArray, toByteString, writeDelimitedTo, writeTo
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Methods inherited from class java.lang.Object
clone, finalize, getClass, notify, notifyAll, wait, wait, wait
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Field Detail
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X_FIELD_NUMBER
public static final int X_FIELD_NUMBER
- See Also:
- Constant Field Values
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Y_FIELD_NUMBER
public static final int Y_FIELD_NUMBER
- See Also:
- Constant Field Values
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Z_FIELD_NUMBER
public static final int Z_FIELD_NUMBER
- See Also:
- Constant Field Values
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W_FIELD_NUMBER
public static final int W_FIELD_NUMBER
- See Also:
- Constant Field Values
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Method Detail
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newInstance
protected java.lang.Object newInstance(com.google.protobuf.GeneratedMessageV3.UnusedPrivateParameter unused)
- Overrides:
newInstance
in classcom.google.protobuf.GeneratedMessageV3
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getDescriptor
public static final com.google.protobuf.Descriptors.Descriptor getDescriptor()
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internalGetFieldAccessorTable
protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable internalGetFieldAccessorTable()
- Overrides:
internalGetFieldAccessorTable
in classcom.google.protobuf.GeneratedMessageV3
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getX
public double getX()
The x component.
double x = 1;
- Specified by:
getX
in interfaceQuaternionOrBuilder
- Returns:
- The x.
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getY
public double getY()
The y component.
double y = 2;
- Specified by:
getY
in interfaceQuaternionOrBuilder
- Returns:
- The y.
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getZ
public double getZ()
The z component.
double z = 3;
- Specified by:
getZ
in interfaceQuaternionOrBuilder
- Returns:
- The z.
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getW
public double getW()
The scalar component.
double w = 4;
- Specified by:
getW
in interfaceQuaternionOrBuilder
- Returns:
- The w.
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isInitialized
public final boolean isInitialized()
- Specified by:
isInitialized
in interfacecom.google.protobuf.MessageLiteOrBuilder
- Overrides:
isInitialized
in classcom.google.protobuf.GeneratedMessage.ExtendableMessage<com.google.protobuf.GeneratedMessageV3>
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writeTo
public void writeTo(com.google.protobuf.CodedOutputStream output) throws java.io.IOException
- Specified by:
writeTo
in interfacecom.google.protobuf.MessageLite
- Overrides:
writeTo
in classcom.google.protobuf.GeneratedMessage
- Throws:
java.io.IOException
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getSerializedSize
public int getSerializedSize()
- Specified by:
getSerializedSize
in interfacecom.google.protobuf.MessageLite
- Overrides:
getSerializedSize
in classcom.google.protobuf.GeneratedMessage
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equals
public boolean equals(java.lang.Object obj)
- Specified by:
equals
in interfacecom.google.protobuf.Message
- Overrides:
equals
in classcom.google.protobuf.AbstractMessage
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hashCode
public int hashCode()
- Specified by:
hashCode
in interfacecom.google.protobuf.Message
- Overrides:
hashCode
in classcom.google.protobuf.AbstractMessage
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parseFrom
public static Quaternion parseFrom(java.nio.ByteBuffer data) throws com.google.protobuf.InvalidProtocolBufferException
- Throws:
com.google.protobuf.InvalidProtocolBufferException
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parseFrom
public static Quaternion parseFrom(java.nio.ByteBuffer data, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws com.google.protobuf.InvalidProtocolBufferException
- Throws:
com.google.protobuf.InvalidProtocolBufferException
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parseFrom
public static Quaternion parseFrom(com.google.protobuf.ByteString data) throws com.google.protobuf.InvalidProtocolBufferException
- Throws:
com.google.protobuf.InvalidProtocolBufferException
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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
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parseFrom
public static Quaternion parseFrom(byte[] data) throws com.google.protobuf.InvalidProtocolBufferException
- Throws:
com.google.protobuf.InvalidProtocolBufferException
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parseFrom
public static Quaternion parseFrom(byte[] data, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws com.google.protobuf.InvalidProtocolBufferException
- Throws:
com.google.protobuf.InvalidProtocolBufferException
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parseFrom
public static Quaternion parseFrom(java.io.InputStream input) throws java.io.IOException
- Throws:
java.io.IOException
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parseFrom
public static Quaternion parseFrom(java.io.InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws java.io.IOException
- Throws:
java.io.IOException
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parseDelimitedFrom
public static Quaternion parseDelimitedFrom(java.io.InputStream input) throws java.io.IOException
- Throws:
java.io.IOException
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parseDelimitedFrom
public static Quaternion parseDelimitedFrom(java.io.InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws java.io.IOException
- Throws:
java.io.IOException
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parseFrom
public static Quaternion parseFrom(com.google.protobuf.CodedInputStream input) throws java.io.IOException
- Throws:
java.io.IOException
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parseFrom
public static Quaternion parseFrom(com.google.protobuf.CodedInputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws java.io.IOException
- Throws:
java.io.IOException
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newBuilderForType
public Quaternion.Builder newBuilderForType()
- Specified by:
newBuilderForType
in interfacecom.google.protobuf.Message
- Specified by:
newBuilderForType
in interfacecom.google.protobuf.MessageLite
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newBuilder
public static Quaternion.Builder newBuilder()
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newBuilder
public static Quaternion.Builder newBuilder(Quaternion prototype)
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toBuilder
public Quaternion.Builder toBuilder()
- Specified by:
toBuilder
in interfacecom.google.protobuf.Message
- Specified by:
toBuilder
in interfacecom.google.protobuf.MessageLite
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newBuilderForType
protected Quaternion.Builder newBuilderForType(com.google.protobuf.GeneratedMessageV3.BuilderParent parent)
- Specified by:
newBuilderForType
in classcom.google.protobuf.GeneratedMessageV3
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getDefaultInstance
public static Quaternion getDefaultInstance()
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parser
public static com.google.protobuf.Parser<Quaternion> parser()
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getParserForType
public com.google.protobuf.Parser<Quaternion> getParserForType()
- Specified by:
getParserForType
in interfacecom.google.protobuf.Message
- Specified by:
getParserForType
in interfacecom.google.protobuf.MessageLite
- Overrides:
getParserForType
in classcom.google.protobuf.GeneratedMessage
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getDefaultInstanceForType
public Quaternion getDefaultInstanceForType()
- Specified by:
getDefaultInstanceForType
in interfacecom.google.protobuf.GeneratedMessage.ExtendableMessageOrBuilder<com.google.protobuf.GeneratedMessageV3>
- Specified by:
getDefaultInstanceForType
in interfacecom.google.protobuf.MessageLiteOrBuilder
- Specified by:
getDefaultInstanceForType
in interfacecom.google.protobuf.MessageOrBuilder
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