Class Quaternion
- java.lang.Object
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- com.actelion.research.chem.alignment3d.transformation.Quaternion
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public class Quaternion extends java.lang.Object
- Author:
- J.Wahl, February 2018 Describes rotation using quaternion formulation convention: q0 -> scalar q1,q2,q3 -> vector part http://www.cs.cmu.edu/~spiff/exp-map/ Grassi,98 --> we take the transpose because of different convention!
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Constructor Summary
Constructors Constructor Description Quaternion(double q0, double q1, double q2, double q3)
Quaternion(Coordinates axis, double angle)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description double
getQ0()
double
getQ1()
double
getQ2()
double
getQ3()
static Quaternion
getRandomRotation()
get a random quaternion, from: https://stackoverflow.com/questions/31600717/how-to-generate-a-random-quaternion-quicklyMatrix
getRotMatrix()
from Grassia: q0 corresponds to qw (scalar part)void
multiply(Quaternion r)
convert Quaternion to a rotation matrixvoid
normalize()
double
normSquared()
void
setQ0(double q0)
void
setQ1(double q1)
void
setQ2(double q2)
void
setQ3(double q3)
java.lang.String
toString()
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Constructor Detail
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Quaternion
public Quaternion(double q0, double q1, double q2, double q3)
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Quaternion
public Quaternion(Coordinates axis, double angle)
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Method Detail
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normalize
public void normalize()
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setQ0
public void setQ0(double q0)
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setQ1
public void setQ1(double q1)
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setQ2
public void setQ2(double q2)
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setQ3
public void setQ3(double q3)
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getQ0
public double getQ0()
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getQ1
public double getQ1()
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getQ2
public double getQ2()
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getQ3
public double getQ3()
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normSquared
public double normSquared()
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multiply
public void multiply(Quaternion r)
convert Quaternion to a rotation matrix
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getRotMatrix
public Matrix getRotMatrix()
from Grassia: q0 corresponds to qw (scalar part)- Returns:
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getRandomRotation
public static Quaternion getRandomRotation()
get a random quaternion, from: https://stackoverflow.com/questions/31600717/how-to-generate-a-random-quaternion-quickly- Returns:
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toString
public java.lang.String toString()
- Overrides:
toString
in classjava.lang.Object
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