javax.robotics.vecmath
Class Quaternion

java.lang.Object
  javax.vecmath.Tuple4d
      javax.vecmath.Quat4d
          javax.robotics.vecmath.Quaternion

All Implemented Interfaces:

java.io.Serializable, java.lang.Cloneable

public class Quaternion
extends javax.vecmath.Quat4d

A 4-element quaternion represented by double precision floating point x,y,z,w coordinates. The quaternion is always normalized. This class extends printing functionality of Quat4d class

Since:

1.0.1

Version:

5/10/2005

Author:

Carmine Lia

See Also:

Serialized Form

Field Summary

Fields inherited from class javax.vecmath.Tuple4d

w, x, y, z

Constructor Summary

Quaternion()
Constructs and initializes a Quaternion to (0,0,0,0).

Quaternion(double[] q)
Constructs and initializes a Quaternion from the array of length 4.

Quaternion(double x, double y, double z, double w)
Constructs and initializes a Quaternion from the specified xyzw coordinates.

Quaternion(javax.vecmath.Quat4d q)
Constructs and initializes a Quaternion from the specified Quat4d.

Quaternion(Quaternion q)
Constructs and initializes a new Quaternion from the specified Quaternion.

Method Summary

double	dot(Quaternion q)
double	getScalar() Gets the scalar component of Quaternion.
RVector3d	getVector() Gets the vectorial component of Quaternion
void	printf() Prints to standard out
void	printf(java.io.PrintStream out) Prints to PrintStream
void	printf(java.io.PrintStream out, java.lang.String format) Prints to PrintStream according to the format string
void	printf(java.lang.String format) Prints to standard out according to the format string.
java.lang.String	toString() Returns a string that contains the values of this RVector.
java.lang.String	toString(java.lang.String format) Returns a string that contains the values of this RVector, according to the format string

Methods inherited from class javax.vecmath.Quat4d

conjugate, conjugate, interpolate, interpolate, inverse, inverse, mul, mul, mulInverse, mulInverse, normalize, normalize, set, set, set, set, set, set

Methods inherited from class javax.vecmath.Tuple4d

absolute, absolute, add, add, clamp, clamp, clamp, clamp, clampMax, clampMax, clampMax, clampMax, clampMin, clampMin, clampMin, clampMin, clone, epsilonEquals, equals, equals, get, get, hashCode, interpolate, interpolate, interpolate, interpolate, negate, negate, scale, scale, scaleAdd, scaleAdd, scaleAdd, set, set, set, set, sub, sub

Methods inherited from class java.lang.Object

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

Constructor Detail

Quaternion

public Quaternion()

Constructs and initializes a Quaternion to (0,0,0,0).

Quaternion

public Quaternion(double[] q)

Constructs and initializes a Quaternion from the array of length 4.

Parameters:

q - the array of length 4 containing xyzw in order

Quaternion

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

Constructs and initializes a Quaternion from the specified xyzw coordinates.

Parameters:

x - the x coordinate

y - the y coordinate

z - the z coordinate

w - the w scalar component

Quaternion

public Quaternion(javax.vecmath.Quat4d q)

Constructs and initializes a Quaternion from the specified Quat4d.

Parameters:

q - the Quat4d containing the initialization x y z w data

Quaternion

public Quaternion(Quaternion q)

Constructs and initializes a new Quaternion from the specified Quaternion.

Parameters:

q - the Quaternion containing the initialization x y z w data.

Method Detail

getVector

public RVector3d getVector()

Gets the vectorial component of Quaternion

Returns:

the vectorial component of Quaternion

getScalar

public final double getScalar()

Gets the scalar component of Quaternion.

Returns:

the scalar component of Quaternion

dot

public double dot(Quaternion q)

printf

public void printf()

Prints to standard out

printf

public void printf(java.lang.String format)

Prints to standard out according to the format string.

The format specifiers for numeric types have the following syntax:

 %[width][.precision]conversion
 

• The optional width is a non-negative decimal integer indicating the minimum number of characters to be written to the output.
• The optional precision is a non-negative decimal integer usually used to restrict the number of characters. The specific behavior depends on the conversion.
• The required conversion is a character indicating how the argument should be formatted. The set of valid conversions for a given argument depends on the argument's data type.

Example:
v.printf("%5.3f");

Parameters:

format - The format string

See Also:

PrintStream.format(java.lang.String, java.lang.Object[])

printf

public void printf(java.io.PrintStream out)

Prints to PrintStream

Parameters:

out - The PrintStream object.

printf

public void printf(java.io.PrintStream out,
                   java.lang.String format)

Prints to PrintStream according to the format string

Parameters:

out - The PrintStream object.

format - The format string.

See Also:

printf(String)

toString

public java.lang.String toString()

Returns a string that contains the values of this RVector.

Overrides:

toString in class javax.vecmath.Tuple4d

Returns:

The string.

toString

public java.lang.String toString(java.lang.String format)

Returns a string that contains the values of this RVector, according to the format string

Parameters:

format - The format string

Returns:

The string

See Also:

printf(String)