us.ihmc.euclid.tuple4D

Class Quaternion

java.lang.Object

us.ihmc.euclid.tuple4D.Quaternion

All Implemented Interfaces:

Clearable, EpsilonComparable<Quaternion>, GeometricallyComparable<Quaternion>, GeometryObject<Quaternion>, Settable<Quaternion>, Transformable, Orientation3DBasics, Orientation3DReadOnly, QuaternionBasics, QuaternionReadOnly, Tuple4DBasics, Tuple4DReadOnly

public class Quaternion
extends java.lang.Object
implements QuaternionBasics, GeometryObject<Quaternion>

Class used to represent unit-quaternions which are used to represent 3D orientations.

This version of quaternion uses double precision fields to save the value of each component. It is meant for garbage free usage.

Field Summary

Fields inherited from interface us.ihmc.euclid.tuple4D.interfaces.QuaternionBasics

EPS_POW

Fields inherited from interface us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly

EPS_UNITARY, GEOMETRICALLY_EQUALS_THRESHOLD

Fields inherited from interface us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly

ORIENTATION_2D_EPSILON

Constructor Summary

Constructors

Constructor and Description
Quaternion() Creates a new quaternion and initializes it to the neutral quaternion which represents a 'zero' rotation.
Quaternion(org.ejml.data.DenseMatrix64F matrix) Creates a new quaternion and initializes its component x, y, z, s in order from the given matrix.
Quaternion(double[] quaternionArray) Creates a new quaternion and initializes its component x, y, z, s in order from the given array.
Quaternion(double yaw, double pitch, double roll) Creates and new quaternion and initializes such that it represents the same orientation as the given yaw-pitch-roll yaw, pitch, and roll.
Quaternion(double x, double y, double z, double s) Creates a new quaternion and initializes it with the given components.
Quaternion(Orientation3DReadOnly orientation) Creates a new quaternion and initializes such that it represents the same orientation as the given one.
Quaternion(QuaternionReadOnly other) Creates a new quaternion and initializes it to other.
Quaternion(Tuple4DReadOnly other) Creates a new quaternion and initializes it to other.
Quaternion(Vector3DReadOnly rotationVector) Creates a new quaternion and initializes such that it represents the same orientation as the given rotationVector.

Method Summary

Modifier and Type	Method and Description
boolean	epsilonEquals(Quaternion other, double epsilon) Tests on a per component basis if this quaternion is equal to the given other to an epsilon.
boolean	equals(java.lang.Object object) Tests if the given object's class is the same as this, in which case the method returns Tuple4DReadOnly.equals(Tuple4DReadOnly), it returns false otherwise.
boolean	geometricallyEquals(Quaternion other, double epsilon) Tests if this and other represent the same orientation to an epsilon.
double	getS() Returns the s-component of this tuple.
double	getX() Returns the x-component of this tuple.
double	getY() Returns the y-component of this tuple.
double	getZ() Returns the z-component of this tuple.
int	hashCode() Calculates and returns a hash code value from the value of each component of this quaternion.
void	set(Quaternion other) Sets this quaternion to other.
void	setUnsafe(double qx, double qy, double qz, double qs) Sets the four components of this quaternion without normalizing.
java.lang.String	toString() Provides a String representation of this quaternion as follows: (x, y, z, s).

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface us.ihmc.euclid.tuple4D.interfaces.QuaternionBasics

absolute, append, appendInvertOther, appendPitchRotation, appendRollRotation, appendYawRotation, applyInverseTransform, applyTransform, conjugate, difference, interpolate, interpolate, inverse, invert, multiply, multiply, multiplyConjugateBoth, multiplyConjugateOther, multiplyConjugateThis, negate, normalize, normalizeAndLimitToPi, pow, preMultiply, preMultiplyConjugateBoth, preMultiplyConjugateOther, preMultiplyConjugateThis, prepend, prependInvertOther, prependPitchRotation, prependRollRotation, prependYawRotation, set, set, set, setAndConjugate, setAndInverse, setAndNegate, setAndNormalize, setAndNormalize, setAxisAngle, setQuaternion, setRotationMatrix, setRotationVector, setToPitchQuaternion, setToRollQuaternion, setToYawQuaternion, setToZero, setYawPitchRoll

Methods inherited from interface us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly

addTransform, checkIfIsZOnly, checkIfUnitary, checkIfUnitary, distance, distancePrecise, geometricallyEquals, get, get, get, getAngle, getEuler, getPitch, getRoll, getRotationVector, getYaw, getYawPitchRoll, inverseTransform, inverseTransform, inverseTransform, inverseTransform, isOrientation2D, isUnitary, isZOnly, norm, transform, transform, transform, transform

Methods inherited from interface us.ihmc.euclid.orientation.interfaces.Orientation3DBasics

appendInvertBoth, appendInvertThis, prependInvertBoth, prependInvertThis, setAndInvert, setAndNormalize, setEuler, setEuler, setRotationVector, setYawPitchRoll

Methods inherited from interface us.ihmc.euclid.orientation.interfaces.Orientation3DReadOnly

addTransform, checkIfOrientation2D, checkIfOrientation2D, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, inverseTransform, isOrientation2D, toStringAsYawPitchRoll, transform, transform, transform, transform, transform, transform, transform, transform, transform, transform, transform, transform

Methods inherited from interface us.ihmc.euclid.tuple4D.interfaces.Tuple4DBasics

containsNaN, set, set, set, set, set, set, set, set, setAndAbsolute, setAndNegate, setToNaN

Methods inherited from interface us.ihmc.euclid.tuple4D.interfaces.Tuple4DReadOnly

dot, epsilonEquals, equals, get, get, get, get, get, get, get, getElement, getElement32, getS32, getX32, getY32, getZ32, normSquared

Constructor Detail

Quaternion

public Quaternion()

Creates a new quaternion and initializes it to the neutral quaternion which represents a 'zero' rotation.

Quaternion

public Quaternion(double x,
                  double y,
                  double z,
                  double s)

Creates a new quaternion and initializes it with the given components.

The quaternion is immediately normalized.

Parameters:

x - the x-component.

y - the y-component.

z - the z-component.

s - the s-component.

Quaternion

public Quaternion(double[] quaternionArray)

Creates a new quaternion and initializes its component x, y, z, s in order from the given array.

The quaternion is immediately normalized.

Parameters:

quaternionArray - the array containing this quaternion's components. Not modified.

Quaternion

public Quaternion(org.ejml.data.DenseMatrix64F matrix)

Creates a new quaternion and initializes its component x, y, z, s in order from the given matrix.

The quaternion is immediately normalized.

Parameters:

matrix - the dense-matrix containing this quaternion's components. Not modified.

Quaternion

public Quaternion(Orientation3DReadOnly orientation)

Creates a new quaternion and initializes such that it represents the same orientation as the given one.

Parameters:

orientation - the orientation to initialize this quaternion. Not modified.

Quaternion

public Quaternion(QuaternionReadOnly other)

Creates a new quaternion and initializes it to other.

Parameters:

other - the quaternion to copy the components from. Not modified.

Quaternion

public Quaternion(Tuple4DReadOnly other)

Creates a new quaternion and initializes it to other.

Parameters:

other - the tuple to copy the components from. Not modified.

Quaternion

public Quaternion(Vector3DReadOnly rotationVector)

Creates a new quaternion and initializes such that it represents the same orientation as the given rotationVector.

WARNING: a rotation vector is different from a yaw-pitch-roll or Euler angles representation. A rotation vector is equivalent to the axis of an axis-angle that is multiplied by the angle of the same axis-angle.

Parameters:

rotationVector - the rotation vector to initialize this quaternion. Not modified.

Quaternion

public Quaternion(double yaw,
                  double pitch,
                  double roll)

Creates and new quaternion and initializes such that it represents the same orientation as the given yaw-pitch-roll yaw, pitch, and roll.

Parameters:

yaw - the angle to rotate about the z-axis.

pitch - the angle to rotate about the y-axis.

roll - the angle to rotate about the x-axis.

Method Detail

set

public void set(Quaternion other)

Sets this quaternion to other.

Specified by:

set in interface Settable<Quaternion>

Parameters:

other - the other quaternion to copy the values from. Not modified.

setUnsafe

public void setUnsafe(double qx,
                      double qy,
                      double qz,
                      double qs)

Sets the four components of this quaternion without normalizing.

This method is meant for internal usage. Prefer using QuaternionBasics.set(double, double, double, double).

Specified by:

setUnsafe in interface QuaternionBasics

Parameters:

qx - the x-component of this quaternion.

qy - the y-component of this quaternion.

qz - the z-component of this quaternion.

qs - the s-component of this quaternion.

getX

public double getX()

Returns the x-component of this tuple.

Specified by:

getX in interface Tuple4DReadOnly

Returns:

the x-component.

getY

public double getY()

Returns the y-component of this tuple.

Specified by:

getY in interface Tuple4DReadOnly

Returns:

the y-component.

getZ

public double getZ()

Returns the z-component of this tuple.

Specified by:

getZ in interface Tuple4DReadOnly

Returns:

the z-component.

getS

public double getS()

Returns the s-component of this tuple.

Specified by:

getS in interface Tuple4DReadOnly

Returns:

the s-component.

equals

public boolean equals(java.lang.Object object)

Tests if the given object's class is the same as this, in which case the method returns Tuple4DReadOnly.equals(Tuple4DReadOnly), it returns false otherwise.

Overrides:

equals in class java.lang.Object

Parameters:

object - the object to compare against this. Not modified.

Returns:

true if object and this are exactly equal, false otherwise.

epsilonEquals

public boolean epsilonEquals(Quaternion other,
                             double epsilon)

Tests on a per component basis if this quaternion is equal to the given other to an epsilon.

Specified by:

epsilonEquals in interface EpsilonComparable<Quaternion>

Parameters:

other - the other quaternion to compare against this. Not modified.

epsilon - the tolerance to use when comparing each component.

Returns:

true if the two tuples are equal, false otherwise.

geometricallyEquals

public boolean geometricallyEquals(Quaternion other,
                                   double epsilon)

Tests if this and other represent the same orientation to an epsilon.

Two quaternions are considered geometrically equal if the magnitude of their difference is less than or equal to epsilon.

Note that two quaternions of opposite sign are considered equal, such that the two quaternions q1 = (x, y, z, s) and q2 = (-x, -y, -z, -s) are considered geometrically equal.

Note that this.geometricallyEquals(other, epsilon) == true does not necessarily imply this.epsilonEquals(other, epsilon) and vice versa.

Specified by:

geometricallyEquals in interface GeometricallyComparable<Quaternion>

Parameters:

other - the other quaternion to compare against this. Not modified.

epsilon - the maximum angle of the difference quaternion can be for the two quaternions to be considered equal.

Returns:

true if the two quaternions represent the same geometry, false otherwise.

toString

public java.lang.String toString()

Provides a String representation of this quaternion as follows: (x, y, z, s).

Overrides:

toString in class java.lang.Object

Returns:

the String representing this quaternion.

hashCode

public int hashCode()

Calculates and returns a hash code value from the value of each component of this quaternion.

Overrides:

hashCode in class java.lang.Object

Returns:

the hash code value for this quaternion.