org.scijava.vecmath

Class Quat4d

java.lang.Object

org.scijava.vecmath.Tuple4d

org.scijava.vecmath.Quat4d

All Implemented Interfaces:

Serializable, Cloneable

public class Quat4d
extends Tuple4d
implements Serializable

A 4-element quaternion represented by double precision floating point x,y,z,w coordinates. The quaternion is always normalized.

See Also:

Serialized Form

Field Summary

Fields inherited from class org.scijava.vecmath.Tuple4d

w, x, y, z

Constructor Summary

Constructors

Constructor and Description
Quat4d() Constructs and initializes a Quat4d to (0,0,0,0).
Quat4d(double[] q) Constructs and initializes a Quat4d from the array of length 4.
Quat4d(double x, double y, double z, double w) Constructs and initializes a Quat4d from the specified xyzw coordinates.
Quat4d(Quat4d q1) Constructs and initializes a Quat4d from the specified Quat4d.
Quat4d(Quat4f q1) Constructs and initializes a Quat4d from the specified Quat4f.
Quat4d(Tuple4d t1) Constructs and initializes a Quat4d from the specified Tuple4d.
Quat4d(Tuple4f t1) Constructs and initializes a Quat4d from the specified Tuple4f.

Method Summary

Methods

Modifier and Type	Method and Description
void	conjugate() Negate the value of of each of this quaternion's x,y,z coordinates in place.
void	conjugate(Quat4d q1) Sets the value of this quaternion to the conjugate of quaternion q1.
void	interpolate(Quat4d q1, double alpha) Performs a great circle interpolation between this quaternion and the quaternion parameter and places the result into this quaternion.
void	interpolate(Quat4d q1, Quat4d q2, double alpha) Performs a great circle interpolation between quaternion q1 and quaternion q2 and places the result into this quaternion.
void	inverse() Sets the value of this quaternion to the quaternion inverse of itself.
void	inverse(Quat4d q1) Sets the value of this quaternion to quaternion inverse of quaternion q1.
void	mul(Quat4d q1) Sets the value of this quaternion to the quaternion product of itself and q1 (this = this * q1).
void	mul(Quat4d q1, Quat4d q2) Sets the value of this quaternion to the quaternion product of quaternions q1 and q2 (this = q1 * q2).
void	mulInverse(Quat4d q1) Multiplies this quaternion by the inverse of quaternion q1 and places the value into this quaternion.
void	mulInverse(Quat4d q1, Quat4d q2) Multiplies quaternion q1 by the inverse of quaternion q2 and places the value into this quaternion.
void	normalize() Normalizes the value of this quaternion in place.
void	normalize(Quat4d q1) Sets the value of this quaternion to the normalized value of quaternion q1.
void	set(AxisAngle4d a) Sets the value of this quaternion to the equivalent rotation of the AxisAngle argument.
void	set(AxisAngle4f a) Sets the value of this quaternion to the equivalent rotation of the AxisAngle argument.
void	set(Matrix3d m1) Sets the value of this quaternion to the rotational component of the passed matrix.
void	set(Matrix3f m1) Sets the value of this quaternion to the rotational component of the passed matrix.
void	set(Matrix4d m1) Sets the value of this quaternion to the rotational component of the passed matrix.
void	set(Matrix4f m1) Sets the value of this quaternion to the rotational component of the passed matrix.

Methods inherited from class org.scijava.vecmath.Tuple4d

absolute, absolute, add, add, clamp, clamp, clamp, clamp, clampMax, clampMax, clampMax, clampMax, clampMin, clampMin, clampMin, clampMin, clone, epsilonEquals, equals, equals, get, get, getW, getX, getY, getZ, hashCode, interpolate, interpolate, interpolate, interpolate, negate, negate, scale, scale, scaleAdd, scaleAdd, scaleAdd, set, set, set, set, setW, setX, setY, setZ, sub, sub, toString

Methods inherited from class java.lang.Object

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

Constructor Detail

Quat4d

public Quat4d(double x,
      double y,
      double z,
      double w)

Constructs and initializes a Quat4d from the specified xyzw coordinates.

Parameters:

x - the x coordinate

y - the y coordinate

z - the z coordinate

w - the w scalar component

Quat4d

public Quat4d(double[] q)

Constructs and initializes a Quat4d from the array of length 4.

Parameters:

q - the array of length 4 containing xyzw in order

Quat4d

public Quat4d(Quat4d q1)

Constructs and initializes a Quat4d from the specified Quat4d.

Parameters:

q1 - the Quat4d containing the initialization x y z w data

Quat4d

public Quat4d(Quat4f q1)

Constructs and initializes a Quat4d from the specified Quat4f.

Parameters:

q1 - the Quat4f containing the initialization x y z w data

Quat4d

public Quat4d(Tuple4f t1)

Constructs and initializes a Quat4d from the specified Tuple4f.

Parameters:

t1 - the Tuple4f containing the initialization x y z w data

Quat4d

public Quat4d(Tuple4d t1)

Constructs and initializes a Quat4d from the specified Tuple4d.

Parameters:

t1 - the Tuple4d containing the initialization x y z w data

Quat4d

public Quat4d()

Constructs and initializes a Quat4d to (0,0,0,0).

Method Detail

conjugate

public final void conjugate(Quat4d q1)

Sets the value of this quaternion to the conjugate of quaternion q1.

Parameters:

q1 - the source vector

conjugate

public final void conjugate()

Negate the value of of each of this quaternion's x,y,z coordinates in place.

mul

public final void mul(Quat4d q1,
       Quat4d q2)

Sets the value of this quaternion to the quaternion product of quaternions q1 and q2 (this = q1 * q2). Note that this is safe for aliasing (e.g. this can be q1 or q2).

Parameters:

q1 - the first quaternion

q2 - the second quaternion

mul

public final void mul(Quat4d q1)

Sets the value of this quaternion to the quaternion product of itself and q1 (this = this * q1).

Parameters:

q1 - the other quaternion

mulInverse

public final void mulInverse(Quat4d q1,
              Quat4d q2)

Multiplies quaternion q1 by the inverse of quaternion q2 and places the value into this quaternion. The value of both argument quaternions is preservered (this = q1 * q2^-1).

Parameters:

q1 - the first quaternion

q2 - the second quaternion

mulInverse

public final void mulInverse(Quat4d q1)

Multiplies this quaternion by the inverse of quaternion q1 and places the value into this quaternion. The value of the argument quaternion is preserved (this = this * q^-1).

Parameters:

q1 - the other quaternion

inverse

public final void inverse(Quat4d q1)

Sets the value of this quaternion to quaternion inverse of quaternion q1.

Parameters:

q1 - the quaternion to be inverted

inverse

public final void inverse()

Sets the value of this quaternion to the quaternion inverse of itself.

normalize

public final void normalize(Quat4d q1)

Sets the value of this quaternion to the normalized value of quaternion q1.

Parameters:

q1 - the quaternion to be normalized.

normalize

public final void normalize()

Normalizes the value of this quaternion in place.

set

public final void set(Matrix4f m1)

Sets the value of this quaternion to the rotational component of the passed matrix.

Parameters:

m1 - the matrix4f

set

public final void set(Matrix4d m1)

Sets the value of this quaternion to the rotational component of the passed matrix.

Parameters:

m1 - the matrix4d

set

public final void set(Matrix3f m1)

Sets the value of this quaternion to the rotational component of the passed matrix.

Parameters:

m1 - the matrix3f

set

public final void set(Matrix3d m1)

Sets the value of this quaternion to the rotational component of the passed matrix.

Parameters:

m1 - the matrix3d

set

public final void set(AxisAngle4f a)

Sets the value of this quaternion to the equivalent rotation of the AxisAngle argument.

Parameters:

a - the AxisAngle to be emulated

set

public final void set(AxisAngle4d a)

Sets the value of this quaternion to the equivalent rotation of the AxisAngle argument.

Parameters:

a - the AxisAngle to be emulated

interpolate

public final void interpolate(Quat4d q1,
               double alpha)

Performs a great circle interpolation between this quaternion and the quaternion parameter and places the result into this quaternion.

Parameters:

q1 - the other quaternion

alpha - the alpha interpolation parameter

interpolate

public final void interpolate(Quat4d q1,
               Quat4d q2,
               double alpha)

Performs a great circle interpolation between quaternion q1 and quaternion q2 and places the result into this quaternion.

Parameters:

q1 - the first quaternion

q2 - the second quaternion

alpha - the alpha interpolation parameter