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

Constructors

Constructor and Description
Quaternion(double x, double y, double z, double w)

Method Summary

Methods

Modifier and Type	Method and Description
boolean	almostEquals(Quaternion other, double epsilon)
Quaternion	conjugate()
boolean	equals(java.lang.Object obj)
static Quaternion	fromAxisAngle(Vector3 axis, double angle)
static Quaternion	fromQuaternionMessage(geometry_msgs.Quaternion message)
double	getMagnitude()
double	getMagnitudeSquared()
double	getW()
double	getX()
double	getY()
double	getZ()
int	hashCode()
static Quaternion	identity()
Quaternion	invert()
boolean	isAlmostNeutral(double epsilon)
Quaternion	multiply(Quaternion other)
Quaternion	normalize()
Vector3	rotateAndScaleVector(Vector3 vector)
static Quaternion	rotationBetweenVectors(Vector3 vector1, Vector3 vector2)
Quaternion	scale(double factor)
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

fromAxisAngle

public static Quaternion fromAxisAngle(Vector3 axis,
                       double angle)

fromQuaternionMessage

public static Quaternion fromQuaternionMessage(geometry_msgs.Quaternion message)

rotationBetweenVectors

public static Quaternion rotationBetweenVectors(Vector3 vector1,
                                Vector3 vector2)

identity

public static Quaternion identity()

scale

public Quaternion scale(double factor)

conjugate

public Quaternion conjugate()

invert

public Quaternion invert()

normalize

public Quaternion normalize()

multiply

public Quaternion multiply(Quaternion other)

rotateAndScaleVector

public Vector3 rotateAndScaleVector(Vector3 vector)

getX

public double getX()

getY

public double getY()

getZ

public double getZ()

getW

public double getW()

getMagnitudeSquared

public double getMagnitudeSquared()

getMagnitude

public double getMagnitude()

isAlmostNeutral

public boolean isAlmostNeutral(double epsilon)

toQuaternionMessage

public geometry_msgs.Quaternion toQuaternionMessage(geometry_msgs.Quaternion result)

almostEquals

public boolean almostEquals(Quaternion other,
                   double epsilon)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

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