org.ros.rosjava_geometry
Class Quaternion

java.lang.Object
  org.ros.rosjava_geometry.Quaternion

public class Quaternion
extends java.lang.Object

A quaternion.

Constructor Summary

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

Method Summary

boolean	equals(java.lang.Object obj)
double	getAngle()
Vector3	getAxis()
double	getW()
double	getX()
double	getY()
double	getZ()
int	hashCode()
Quaternion	invert()
Quaternion	multiply(Quaternion other)
static Quaternion	newFromAxisAngle(Vector3 axis, double angle)
static Quaternion	newFromQuaternionMessage(geometry_msgs.Quaternion message)
static Quaternion	newIdentityQuaternion()
Vector3	rotateVector(Vector3 vector)
static Quaternion	rotationBetweenVectors(Vector3 vector1, Vector3 vector2)
void	setW(double w)
void	setX(double x)
void	setY(double y)
void	setZ(double z)
geometry_msgs.Quaternion	toQuaternionMessage(geometry_msgs.Quaternion result)
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

Quaternion

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

Method Detail

newFromAxisAngle

public static Quaternion newFromAxisAngle(Vector3 axis,
                                          double angle)

newFromQuaternionMessage

public static Quaternion newFromQuaternionMessage(geometry_msgs.Quaternion message)

rotationBetweenVectors

public static Quaternion rotationBetweenVectors(Vector3 vector1,
                                                Vector3 vector2)

newIdentityQuaternion

public static Quaternion newIdentityQuaternion()

getAngle

public double getAngle()

getAxis

public Vector3 getAxis()

invert

public Quaternion invert()

multiply

public Quaternion multiply(Quaternion other)

rotateVector

public Vector3 rotateVector(Vector3 vector)

toQuaternionMessage

public geometry_msgs.Quaternion toQuaternionMessage(geometry_msgs.Quaternion result)

getX

public double getX()

setX

public void setX(double x)

getY

public double getY()

setY

public void setY(double y)

getZ

public double getZ()

setZ

public void setZ(double z)

getW

public double getW()

setW

public void setW(double w)

hashCode

public int hashCode()

Overrides:

hashCode in class java.lang.Object

equals

public boolean equals(java.lang.Object obj)

Overrides:

equals in class java.lang.Object

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object