Package com.google.type

Class Quaternion

java.lang.Object
com.google.protobuf.AbstractMessageLite
com.google.protobuf.AbstractMessage
com.google.protobuf.GeneratedMessageV3
com.google.type.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:

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Class
    Description
    static final 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.AbstractMessageLite

    com.google.protobuf.AbstractMessageLite.InternalOneOfEnum

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final int
    W_FIELD_NUMBER
     
    static final int
    X_FIELD_NUMBER
     
    static final int
    Y_FIELD_NUMBER
     
    static final 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 Summary

    Modifier and Type
    Method
    Description
    boolean
    equals(Object obj)
     
    static Quaternion
    getDefaultInstance()
     
    Quaternion
    getDefaultInstanceForType()
     
    static final 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()
     
    final 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 Object
    newInstance(com.google.protobuf.GeneratedMessageV3.UnusedPrivateParameter unused)
     
    static Quaternion
    parseDelimitedFrom(InputStream input)
     
    static Quaternion
    parseDelimitedFrom(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(InputStream input)
     
    static Quaternion
    parseFrom(InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry)
     
    static Quaternion
    parseFrom(ByteBuffer data)
     
    static Quaternion
    parseFrom(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

    canUseUnsafe, computeStringSize, computeStringSizeNoTag, emptyBooleanList, emptyDoubleList, emptyFloatList, emptyIntList, emptyList, emptyLongList, getAllFields, getDescriptorForType, getField, getOneofFieldDescriptor, getRepeatedField, getRepeatedFieldCount, getUnknownFields, hasField, hasOneof, internalGetMapField, internalGetMapFieldReflection, isStringEmpty, makeExtensionsImmutable, makeMutableCopy, makeMutableCopy, mergeFromAndMakeImmutableInternal, 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

    Methods inherited from class com.google.protobuf.AbstractMessage

    findInitializationErrors, getInitializationErrorString, hashBoolean, hashEnum, hashEnumList, hashFields, hashLong, toString

    Methods inherited from class com.google.protobuf.AbstractMessageLite

    addAll, 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

  • Field Details

  • Method Details

    • newInstance

      protected 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()
      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(InputStream input) throws IOException
      Throws:
      IOException

    • parseFrom

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

    • parseDelimitedFrom

      public static Quaternion parseDelimitedFrom(InputStream input) throws IOException
      Throws:
      IOException

    • parseDelimitedFrom

      public static Quaternion parseDelimitedFrom(InputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws IOException
      Throws:
      IOException

    • parseFrom

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

    • 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

    • newBuilder

      public static Quaternion.Builder newBuilder()

    • newBuilder

      public static Quaternion.Builder newBuilder(Quaternion prototype)

    • 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