Package com.google.type

Class Quaternion

  • All Implemented Interfaces:
    com.google.protobuf.Message, com.google.protobuf.MessageLite, com.google.protobuf.MessageLiteOrBuilder, com.google.protobuf.MessageOrBuilder, QuaternionOrBuilder, 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<MessageType extends com.google.protobuf.GeneratedMessageV3.ExtendableMessage,​BuilderType extends com.google.protobuf.GeneratedMessageV3.ExtendableBuilder<MessageType,​BuilderType>>, com.google.protobuf.GeneratedMessageV3.ExtendableMessage<MessageType extends com.google.protobuf.GeneratedMessageV3.ExtendableMessage>, com.google.protobuf.GeneratedMessageV3.ExtendableMessageOrBuilder<MessageType extends com.google.protobuf.GeneratedMessageV3.ExtendableMessage>, com.google.protobuf.GeneratedMessageV3.FieldAccessorTable, com.google.protobuf.GeneratedMessageV3.UnusedPrivateParameter

      • 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.GeneratedMessageV3

        alwaysUseFieldBuilders, unknownFields

      • Fields inherited from class com.google.protobuf.AbstractMessage

        memoizedSize

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

        memoizedHashCode

    • Method Detail

      • newInstance

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

      • getUnknownFields

        public final com.google.protobuf.UnknownFieldSet getUnknownFields()
        Specified by:
        getUnknownFields in interface com.google.protobuf.MessageOrBuilder
        Overrides:
        getUnknownFields in class com.google.protobuf.GeneratedMessageV3

      • getDescriptor

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

      • internalGetFieldAccessorTable

        protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable internalGetFieldAccessorTable()
        Specified by:
        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.GeneratedMessageV3

      • writeTo

        public void writeTo​(com.google.protobuf.CodedOutputStream output)
             throws IOException
        Specified by:
        writeTo in interface com.google.protobuf.MessageLite
        Overrides:
        writeTo in class com.google.protobuf.GeneratedMessageV3
        Throws:
        IOException

      • getSerializedSize

        public int getSerializedSize()
        Specified by:
        getSerializedSize in interface com.google.protobuf.MessageLite
        Overrides:
        getSerializedSize in class com.google.protobuf.GeneratedMessageV3

      • equals

        public boolean equals​(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​(ByteBuffer data)
                            throws com.google.protobuf.InvalidProtocolBufferException
        Throws:
        com.google.protobuf.InvalidProtocolBufferException

      • parseFrom

        public static Quaternion parseFrom​(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​(com.google.protobuf.CodedInputStream input,
                                   com.google.protobuf.ExtensionRegistryLite extensionRegistry)
                            throws IOException
        Throws:
        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.GeneratedMessageV3

      • getDefaultInstanceForType

        public Quaternion getDefaultInstanceForType()
        Specified by:
        getDefaultInstanceForType in interface com.google.protobuf.MessageLiteOrBuilder
        Specified by:
        getDefaultInstanceForType in interface com.google.protobuf.MessageOrBuilder