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 = \u22121
ij = \u2212ji = k
jk = \u2212kj = i
ki = \u2212ik = 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
Inherited Members
com.google.protobuf.GeneratedMessageV3.Builder.getUnknownFieldSetBuilder()
com.google.protobuf.GeneratedMessageV3.Builder.mergeUnknownLengthDelimitedField(int,com.google.protobuf.ByteString)
com.google.protobuf.GeneratedMessageV3.Builder.mergeUnknownVarintField(int,int)
com.google.protobuf.GeneratedMessageV3.Builder.parseUnknownField(com.google.protobuf.CodedInputStream,com.google.protobuf.ExtensionRegistryLite,int)
com.google.protobuf.GeneratedMessageV3.Builder.setUnknownFieldSetBuilder(com.google.protobuf.UnknownFieldSet.Builder)
Static Methods
getDescriptor()
public static final Descriptors.Descriptor getDescriptor()
Returns
Methods
addRepeatedField(Descriptors.FieldDescriptor field, Object value)
public Quaternion.Builder addRepeatedField(Descriptors.FieldDescriptor field, Object value)
Parameters
Returns
Overrides
build()
public Quaternion build()
Returns
buildPartial()
public Quaternion buildPartial()
Returns
clear()
public Quaternion.Builder clear()
Returns
Overrides
clearField(Descriptors.FieldDescriptor field)
public Quaternion.Builder clearField(Descriptors.FieldDescriptor field)
Parameter
Returns
Overrides
clearOneof(Descriptors.OneofDescriptor oneof)
public Quaternion.Builder clearOneof(Descriptors.OneofDescriptor oneof)
Parameter
Returns
Overrides
clearW()
public Quaternion.Builder clearW()
The scalar component.
double w = 4;
clearX()
public Quaternion.Builder clearX()
The x component.
double x = 1;
clearY()
public Quaternion.Builder clearY()
The y component.
double y = 2;
clearZ()
public Quaternion.Builder clearZ()
The z component.
double z = 3;
clone()
public Quaternion.Builder clone()
Returns
Overrides
getDefaultInstanceForType()
public Quaternion getDefaultInstanceForType()
Returns
getDescriptorForType()
public Descriptors.Descriptor getDescriptorForType()
Returns
Overrides
getW()
The scalar component.
double w = 4;
getX()
The x component.
double x = 1;
getY()
The y component.
double y = 2;
getZ()
The z component.
double z = 3;
internalGetFieldAccessorTable()
protected GeneratedMessageV3.FieldAccessorTable internalGetFieldAccessorTable()
Returns
Overrides
isInitialized()
public final boolean isInitialized()
Returns
Overrides
public Quaternion.Builder mergeFrom(CodedInputStream input, ExtensionRegistryLite extensionRegistry)
Parameters
Returns
Overrides
Exceptions
mergeFrom(Message other)
public Quaternion.Builder mergeFrom(Message other)
Parameter
Returns
Overrides
mergeFrom(Quaternion other)
public Quaternion.Builder mergeFrom(Quaternion other)
Parameter
Returns
mergeUnknownFields(UnknownFieldSet unknownFields)
public final Quaternion.Builder mergeUnknownFields(UnknownFieldSet unknownFields)
Parameter
Returns
Overrides
setField(Descriptors.FieldDescriptor field, Object value)
public Quaternion.Builder setField(Descriptors.FieldDescriptor field, Object value)
Parameters
Returns
Overrides
setRepeatedField(Descriptors.FieldDescriptor field, int index, Object value)
public Quaternion.Builder setRepeatedField(Descriptors.FieldDescriptor field, int index, Object value)
Parameters
Returns
Overrides
setUnknownFields(UnknownFieldSet unknownFields)
public final Quaternion.Builder setUnknownFields(UnknownFieldSet unknownFields)
Parameter
Returns
Overrides
setW(double value)
public Quaternion.Builder setW(double value)
The scalar component.
double w = 4;
| Name | Description |
| value | double
The w to set.
|
Returns
setX(double value)
public Quaternion.Builder setX(double value)
The x component.
double x = 1;
| Name | Description |
| value | double
The x to set.
|
Returns
setY(double value)
public Quaternion.Builder setY(double value)
The y component.
double y = 2;
| Name | Description |
| value | double
The y to set.
|
Returns
setZ(double value)
public Quaternion.Builder setZ(double value)
The z component.
double z = 3;
| Name | Description |
| value | double
The z to set.
|
Returns
