Class Quaternion.Builder (2.29.0) 

public static final class Quaternion.Builder extends GeneratedMessageV3.Builder<Quaternion.Builder> 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

Inheritance

Object > AbstractMessageLite.Builder<MessageType,BuilderType> > AbstractMessage.Builder<BuilderType> > GeneratedMessageV3.Builder > Quaternion.Builder

Implements

QuaternionOrBuilder

Static Methods

getDescriptor()

public static final Descriptors.Descriptor getDescriptor()
Returns
TypeDescription
Descriptor

Methods

addRepeatedField(Descriptors.FieldDescriptor field, Object value)

public Quaternion.Builder addRepeatedField(Descriptors.FieldDescriptor field, Object value)
Parameters
NameDescription
fieldFieldDescriptor
valueObject
Returns
TypeDescription
Quaternion.Builder
Overrides

build()

public Quaternion build()
Returns
TypeDescription
Quaternion

buildPartial()

public Quaternion buildPartial()
Returns
TypeDescription
Quaternion

clear()

public Quaternion.Builder clear()
Returns
TypeDescription
Quaternion.Builder
Overrides

clearField(Descriptors.FieldDescriptor field)

public Quaternion.Builder clearField(Descriptors.FieldDescriptor field)
Parameter
NameDescription
fieldFieldDescriptor
Returns
TypeDescription
Quaternion.Builder
Overrides

clearOneof(Descriptors.OneofDescriptor oneof)

public Quaternion.Builder clearOneof(Descriptors.OneofDescriptor oneof)
Parameter
NameDescription
oneofOneofDescriptor
Returns
TypeDescription
Quaternion.Builder
Overrides

clearW()

public Quaternion.Builder clearW()

The scalar component.

double w = 4;

Returns
TypeDescription
Quaternion.Builder

This builder for chaining.

clearX()

public Quaternion.Builder clearX()

The x component.

double x = 1;

Returns
TypeDescription
Quaternion.Builder

This builder for chaining.

clearY()

public Quaternion.Builder clearY()

The y component.

double y = 2;

Returns
TypeDescription
Quaternion.Builder

This builder for chaining.

clearZ()

public Quaternion.Builder clearZ()

The z component.

double z = 3;

Returns
TypeDescription
Quaternion.Builder

This builder for chaining.

clone()

public Quaternion.Builder clone()
Returns
TypeDescription
Quaternion.Builder
Overrides

getDefaultInstanceForType()

public Quaternion getDefaultInstanceForType()
Returns
TypeDescription
Quaternion

getDescriptorForType()

public Descriptors.Descriptor getDescriptorForType()
Returns
TypeDescription
Descriptor
Overrides

getW()

public double getW()

The scalar component.

double w = 4;

Returns
TypeDescription
double

The w.

getX()

public double getX()

The x component.

double x = 1;

Returns
TypeDescription
double

The x.

getY()

public double getY()

The y component.

double y = 2;

Returns
TypeDescription
double

The y.

getZ()

public double getZ()

The z component.

double z = 3;

Returns
TypeDescription
double

The z.

internalGetFieldAccessorTable()

protected GeneratedMessageV3.FieldAccessorTable internalGetFieldAccessorTable()
Returns
TypeDescription
FieldAccessorTable
Overrides

isInitialized()

public final boolean isInitialized()
Returns
TypeDescription
boolean
Overrides

mergeFrom(CodedInputStream input, ExtensionRegistryLite extensionRegistry)

public Quaternion.Builder mergeFrom(CodedInputStream input, ExtensionRegistryLite extensionRegistry)
Parameters
NameDescription
inputCodedInputStream
extensionRegistryExtensionRegistryLite
Returns
TypeDescription
Quaternion.Builder
Overrides
Exceptions
TypeDescription
IOException

mergeFrom(Message other)

public Quaternion.Builder mergeFrom(Message other)
Parameter
NameDescription
otherMessage
Returns
TypeDescription
Quaternion.Builder
Overrides

mergeFrom(Quaternion other)

public Quaternion.Builder mergeFrom(Quaternion other)
Parameter
NameDescription
otherQuaternion
Returns
TypeDescription
Quaternion.Builder

mergeUnknownFields(UnknownFieldSet unknownFields)

public final Quaternion.Builder mergeUnknownFields(UnknownFieldSet unknownFields)
Parameter
NameDescription
unknownFieldsUnknownFieldSet
Returns
TypeDescription
Quaternion.Builder
Overrides

setField(Descriptors.FieldDescriptor field, Object value)

public Quaternion.Builder setField(Descriptors.FieldDescriptor field, Object value)
Parameters
NameDescription
fieldFieldDescriptor
valueObject
Returns
TypeDescription
Quaternion.Builder
Overrides

setRepeatedField(Descriptors.FieldDescriptor field, int index, Object value)

public Quaternion.Builder setRepeatedField(Descriptors.FieldDescriptor field, int index, Object value)
Parameters
NameDescription
fieldFieldDescriptor
indexint
valueObject
Returns
TypeDescription
Quaternion.Builder
Overrides

setUnknownFields(UnknownFieldSet unknownFields)

public final Quaternion.Builder setUnknownFields(UnknownFieldSet unknownFields)
Parameter
NameDescription
unknownFieldsUnknownFieldSet
Returns
TypeDescription
Quaternion.Builder
Overrides

setW(double value)

public Quaternion.Builder setW(double value)

The scalar component.

double w = 4;

Parameter
NameDescription
valuedouble

The w to set.

Returns
TypeDescription
Quaternion.Builder

This builder for chaining.

setX(double value)

public Quaternion.Builder setX(double value)

The x component.

double x = 1;

Parameter
NameDescription
valuedouble

The x to set.

Returns
TypeDescription
Quaternion.Builder

This builder for chaining.

setY(double value)

public Quaternion.Builder setY(double value)

The y component.

double y = 2;

Parameter
NameDescription
valuedouble

The y to set.

Returns
TypeDescription
Quaternion.Builder

This builder for chaining.

setZ(double value)

public Quaternion.Builder setZ(double value)

The z component.

double z = 3;

Parameter
NameDescription
valuedouble

The z to set.

Returns
TypeDescription
Quaternion.Builder

This builder for chaining.