Package com.google.type

Class Quaternion.Builder

java.lang.Object
com.google.protobuf.AbstractMessageLite.Builder<MessageType,BuilderType>
com.google.protobuf.GeneratedMessageLite.Builder<Quaternion,Quaternion.Builder>
com.google.type.Quaternion.Builder
All Implemented Interfaces:
com.google.protobuf.MessageLite.Builder, com.google.protobuf.MessageLiteOrBuilder, QuaternionOrBuilder, Cloneable
Enclosing class:
Quaternion
public static final class Quaternion.Builder extends com.google.protobuf.GeneratedMessageLite.Builder<Quaternion,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

  • Field Summary

    Fields inherited from class com.google.protobuf.GeneratedMessageLite.Builder

    instance

  • Method Summary

    Modifier and Type
    Method
    Description
    Quaternion.Builder
    clearW()
    The scalar component.
    Quaternion.Builder
    clearX()
    The x component.
    Quaternion.Builder
    clearY()
    The y component.
    Quaternion.Builder
    clearZ()
    The z component.
    double
    getW()
    The scalar component.
    double
    getX()
    The x component.
    double
    getY()
    The y component.
    double
    getZ()
    The z component.
    Quaternion.Builder
    setW(double value)
    The scalar component.
    Quaternion.Builder
    setX(double value)
    The x component.
    Quaternion.Builder
    setY(double value)
    The y component.
    Quaternion.Builder
    setZ(double value)
    The z component.

    Methods inherited from class com.google.protobuf.GeneratedMessageLite.Builder

    build, buildPartial, clear, clone, copyOnWrite, copyOnWriteInternal, getDefaultInstanceForType, internalMergeFrom, isInitialized, mergeFrom, mergeFrom, mergeFrom, mergeFrom

    Methods inherited from class com.google.protobuf.AbstractMessageLite.Builder

    addAll, addAll, mergeDelimitedFrom, mergeDelimitedFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, newUninitializedMessageException

    Methods inherited from class java.lang.Object

    equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    Methods inherited from interface com.google.protobuf.MessageLiteOrBuilder

    getDefaultInstanceForType, isInitialized

  • Method Details

    • getX

      public double getX()
       The x component.
      double x = 1 [json_name = "x"];
      Specified by:
      getX in interface QuaternionOrBuilder
      Returns:
      The x.

    • setX

      public Quaternion.Builder setX(double value)
       The x component.
      double x = 1 [json_name = "x"];
      Parameters:
      value - The x to set.
      Returns:
      This builder for chaining.

    • clearX

      public Quaternion.Builder clearX()
       The x component.
      double x = 1 [json_name = "x"];
      Returns:
      This builder for chaining.

    • getY

      public double getY()
       The y component.
      double y = 2 [json_name = "y"];
      Specified by:
      getY in interface QuaternionOrBuilder
      Returns:
      The y.

    • setY

      public Quaternion.Builder setY(double value)
       The y component.
      double y = 2 [json_name = "y"];
      Parameters:
      value - The y to set.
      Returns:
      This builder for chaining.

    • clearY

      public Quaternion.Builder clearY()
       The y component.
      double y = 2 [json_name = "y"];
      Returns:
      This builder for chaining.

    • getZ

      public double getZ()
       The z component.
      double z = 3 [json_name = "z"];
      Specified by:
      getZ in interface QuaternionOrBuilder
      Returns:
      The z.

    • setZ

      public Quaternion.Builder setZ(double value)
       The z component.
      double z = 3 [json_name = "z"];
      Parameters:
      value - The z to set.
      Returns:
      This builder for chaining.

    • clearZ

      public Quaternion.Builder clearZ()
       The z component.
      double z = 3 [json_name = "z"];
      Returns:
      This builder for chaining.

    • getW

      public double getW()
       The scalar component.
      double w = 4 [json_name = "w"];
      Specified by:
      getW in interface QuaternionOrBuilder
      Returns:
      The w.

    • setW

      public Quaternion.Builder setW(double value)
       The scalar component.
      double w = 4 [json_name = "w"];
      Parameters:
      value - The w to set.
      Returns:
      This builder for chaining.

    • clearW

      public Quaternion.Builder clearW()
       The scalar component.
      double w = 4 [json_name = "w"];
      Returns:
      This builder for chaining.