# Class Quaternion.Builder (2.32.0)

``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`

## Implements

QuaternionOrBuilder

## Static Methods

### getDescriptor()

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

## Methods

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

### clearOneof(Descriptors.OneofDescriptor oneof)

``public Quaternion.Builder clearOneof(Descriptors.OneofDescriptor oneof)``
Parameter
NameDescription
`oneof``OneofDescriptor`
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
`input``CodedInputStream`
`extensionRegistry``ExtensionRegistryLite`
Returns
TypeDescription
`Quaternion.Builder`
Overrides
Exceptions
TypeDescription
`IOException`

### mergeFrom(Message other)

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

### mergeFrom(Quaternion other)

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

### mergeUnknownFields(UnknownFieldSet unknownFields)

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

### setField(Descriptors.FieldDescriptor field, Object value)

``public Quaternion.Builder setField(Descriptors.FieldDescriptor field, Object value)``
Parameters
NameDescription
`field``FieldDescriptor`
`value``Object`
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
`field``FieldDescriptor`
`index``int`
`value``Object`
Returns
TypeDescription
`Quaternion.Builder`
Overrides

### setUnknownFields(UnknownFieldSet unknownFields)

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

### setW(double value)

``public Quaternion.Builder setW(double value)``

The scalar component.

`double w = 4;`

Parameter
NameDescription
`value``double`

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
`value``double`

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
`value``double`

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
`value``double`

The z to set.

Returns
TypeDescription
`Quaternion.Builder`

This builder for chaining.

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[{ "type": "thumb-up", "id": "easyToUnderstand", "label":"Easy to understand" },{ "type": "thumb-up", "id": "solvedMyProblem", "label":"Solved my problem" },{ "type": "thumb-up", "id": "otherUp", "label":"Other" }]