Package org.jlab.rec.rich

Class Quaternion

java.lang.Object

org.jlab.rec.rich.Quaternion

public class Quaternion
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
double	w
double	x
double	y
double	z

Constructor Summary

Constructors

Constructor	Description
Quaternion()
Quaternion(double w, double x, double y, double z)
Quaternion(double angle, Vector3D rotationAxis)

Method Summary

Modifier and Type	Method	Description
void	conjugate()
double	getSize()
double	GetW()
double	GetX()
double	GetY()
double	GetZ()
Quaternion	multiply(Quaternion qb)	Multiplication between two Quaternions
void	normalize()
Vector3D	rotate(Vector3D vector)
void	set(double w, double x, double y, double z)
void	set(double angle, Vector3D rotationAxis)	Set the rotation Quaternion
void	set(Quaternion q)	Set the Quaternion using another one
void	show()
Matrix	toRotation(Quaternion q1)

Methods inherited from class java.lang.Object

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

Field Details

x

public double x

y

public double y

z

public double z

w

public double w

Constructor Details

Quaternion

public Quaternion()

Quaternion

public Quaternion(double angle,
 Vector3D rotationAxis)

Quaternion

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

Method Details

set

public void set(double angle,
 Vector3D rotationAxis)

Set the rotation Quaternion

Parameters:

angle - the angle of rotation

rotationAxis - the rotation axis (normal two the vector plane)

set

public void set(double w,
 double x,
 double y,
 double z)

set

public void set(Quaternion q)

Set the Quaternion using another one

Parameters:

q -

getSize

public double getSize()

normalize

public void normalize()

multiply

public Quaternion multiply(Quaternion qb)

Multiplication between two Quaternions

Parameters:

qb - the one that multiply

result - of the multiplication

conjugate

public void conjugate()

rotate

public Vector3D rotate(Vector3D vector)

toRotation

public Matrix toRotation(Quaternion q1)

GetX

public double GetX()

GetY

public double GetY()

GetZ

public double GetZ()

GetW

public double GetW()

show

public void show()