Class Quaternion.Builder (2.50.0)

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public static final class Quaternion.Builder extends GeneratedMessageV3.Builder<Quaternion.Builder> implements QuaternionOrBuilder

A quaternion is defined as the quotient of two directed lines in a three-dimensional space or equivalently as the quotient of two Euclidean vectors (https://en.wikipedia.org/wiki/Quaternion).

Quaternions are often used in calculations involving three-dimensional rotations (https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation), as they provide greater mathematical robustness by avoiding the gimbal lock problems that can be encountered when using Euler angles (https://en.wikipedia.org/wiki/Gimbal_lock).

Quaternions are generally represented in this form:

 w + xi + yj + zk

where x, y, z, and w are real numbers, and i, j, and k are three imaginary numbers.

Our naming choice (x, y, z, w) comes from the desire to avoid confusion for those interested in the geometric properties of the quaternion in the 3D Cartesian space. Other texts often use alternative names or subscripts, such as (a, b, c, d), (1, i, j, k), or (0, 1, 2, 3), which are perhaps better suited for mathematical interpretations.

To avoid any confusion, as well as to maintain compatibility with a large number of software libraries, the quaternions represented using the protocol buffer below must follow the Hamilton convention, which defines ij = k (i.e. a right-handed algebra), and therefore:

 i^2 = j^2 = k^2 = ijk = −1
 ij = −ji = k
 jk = −kj = i
 ki = −ik = j

Please DO NOT use this to represent quaternions that follow the JPL convention, or any of the other quaternion flavors out there.

Definitions:

• Quaternion norm (or magnitude): sqrt(x^2 + y^2 + z^2 + w^2).
• Unit (or normalized) quaternion: a quaternion whose norm is 1.
• Pure quaternion: a quaternion whose scalar component (w) is 0.
• Rotation quaternion: a unit quaternion used to represent rotation.

• Orientation quaternion: a unit quaternion used to represent orientation.

  A quaternion can be normalized by dividing it by its norm. The resulting quaternion maintains the same direction, but has a norm of 1, i.e. it moves on the unit sphere. This is generally necessary for rotation and orientation quaternions, to avoid rounding errors: https://en.wikipedia.org/wiki/Rotation_formalisms_in_three_dimensions

  Note that (x, y, z, w) and (-x, -y, -z, -w) represent the same rotation, but normalization would be even more useful, e.g. for comparison purposes, if it would produce a unique representation. It is thus recommended that w be kept positive, which can be achieved by changing all the signs when w is negative.

Protobuf type google.type.Quaternion

Inheritance

Object > AbstractMessageLite.Builder<MessageType,BuilderType> > AbstractMessage.Builder<BuilderType> > GeneratedMessageV3.Builder > Quaternion.Builder

Implements

QuaternionOrBuilder

Inherited Members

AbstractMessage.Builder.findInitializationErrors()

AbstractMessage.Builder.getInitializationErrorString()

AbstractMessage.Builder.internalMergeFrom(AbstractMessageLite)

AbstractMessage.Builder.mergeFrom(byte[])

AbstractMessage.Builder.mergeFrom(byte[],ExtensionRegistryLite)

AbstractMessage.Builder.mergeFrom(byte[],int,int)

AbstractMessage.Builder.mergeFrom(byte[],int,int,ExtensionRegistryLite)

AbstractMessage.Builder.mergeFrom(ByteString)

AbstractMessage.Builder.mergeFrom(ByteString,ExtensionRegistryLite)

AbstractMessage.Builder.mergeFrom(CodedInputStream)

AbstractMessage.Builder.mergeFrom(CodedInputStream,ExtensionRegistryLite)

AbstractMessage.Builder.mergeFrom(Message)

AbstractMessage.Builder.mergeFrom(InputStream)

AbstractMessage.Builder.mergeFrom(InputStream,ExtensionRegistryLite)

AbstractMessage.Builder.newUninitializedMessageException(Message)

AbstractMessage.Builder.toString()

AbstractMessageLite.Builder.<T>addAll(Iterable<T>,Collection<? super T>)

AbstractMessageLite.Builder.<T>addAll(Iterable<T>,List<? super T>)

AbstractMessageLite.Builder.internalMergeFrom(MessageType)

AbstractMessageLite.Builder.mergeDelimitedFrom(InputStream)

AbstractMessageLite.Builder.mergeDelimitedFrom(InputStream,ExtensionRegistryLite)

AbstractMessageLite.Builder.mergeFrom(MessageLite)

AbstractMessageLite.Builder.newUninitializedMessageException(MessageLite)

GeneratedMessageV3.Builder.addRepeatedField(Descriptors.FieldDescriptor,Object)

GeneratedMessageV3.Builder.clear()

GeneratedMessageV3.Builder.clearField(Descriptors.FieldDescriptor)

GeneratedMessageV3.Builder.clearOneof(Descriptors.OneofDescriptor)

GeneratedMessageV3.Builder.clone()

GeneratedMessageV3.Builder.getAllFields()

GeneratedMessageV3.Builder.getDescriptorForType()

GeneratedMessageV3.Builder.getField(Descriptors.FieldDescriptor)

GeneratedMessageV3.Builder.getFieldBuilder(Descriptors.FieldDescriptor)

GeneratedMessageV3.Builder.getOneofFieldDescriptor(Descriptors.OneofDescriptor)

GeneratedMessageV3.Builder.getParentForChildren()

GeneratedMessageV3.Builder.getRepeatedField(Descriptors.FieldDescriptor,int)

GeneratedMessageV3.Builder.getRepeatedFieldBuilder(Descriptors.FieldDescriptor,int)

GeneratedMessageV3.Builder.getRepeatedFieldCount(Descriptors.FieldDescriptor)

com.google.protobuf.GeneratedMessageV3.Builder.getUnknownFieldSetBuilder()

GeneratedMessageV3.Builder.getUnknownFields()

GeneratedMessageV3.Builder.hasField(Descriptors.FieldDescriptor)

GeneratedMessageV3.Builder.hasOneof(Descriptors.OneofDescriptor)

GeneratedMessageV3.Builder.internalGetFieldAccessorTable()

GeneratedMessageV3.Builder.internalGetMapField(int)

com.google.protobuf.GeneratedMessageV3.Builder.internalGetMapFieldReflection(int)

GeneratedMessageV3.Builder.internalGetMutableMapField(int)

com.google.protobuf.GeneratedMessageV3.Builder.internalGetMutableMapFieldReflection(int)

GeneratedMessageV3.Builder.isClean()

GeneratedMessageV3.Builder.isInitialized()

GeneratedMessageV3.Builder.markClean()

GeneratedMessageV3.Builder.mergeUnknownFields(UnknownFieldSet)

com.google.protobuf.GeneratedMessageV3.Builder.mergeUnknownLengthDelimitedField(int,com.google.protobuf.ByteString)

com.google.protobuf.GeneratedMessageV3.Builder.mergeUnknownVarintField(int,int)

GeneratedMessageV3.Builder.newBuilderForField(Descriptors.FieldDescriptor)

GeneratedMessageV3.Builder.onBuilt()

GeneratedMessageV3.Builder.onChanged()

com.google.protobuf.GeneratedMessageV3.Builder.parseUnknownField(com.google.protobuf.CodedInputStream,com.google.protobuf.ExtensionRegistryLite,int)

GeneratedMessageV3.Builder.setField(Descriptors.FieldDescriptor,Object)

GeneratedMessageV3.Builder.setRepeatedField(Descriptors.FieldDescriptor,int,Object)

com.google.protobuf.GeneratedMessageV3.Builder.setUnknownFieldSetBuilder(com.google.protobuf.UnknownFieldSet.Builder)

GeneratedMessageV3.Builder.setUnknownFields(UnknownFieldSet)

GeneratedMessageV3.Builder.setUnknownFieldsProto3(UnknownFieldSet)

Object.equals(Object)

Object.finalize()

Object.getClass()

Object.hashCode()

Object.notify()

Object.notifyAll()

Object.wait()

Object.wait(long)

Object.wait(long,int)

Static Methods

getDescriptor()

public static final Descriptors.Descriptor getDescriptor()

Returns
Type	Description
Descriptor

Methods

addRepeatedField(Descriptors.FieldDescriptor field, Object value)

public Quaternion.Builder addRepeatedField(Descriptors.FieldDescriptor field, Object value)

Parameters
Name	Description
field	FieldDescriptor
value	Object

Returns
Type	Description
Quaternion.Builder

Overrides

GeneratedMessageV3.Builder<BuilderType>.addRepeatedField(Descriptors.FieldDescriptor field, Object value)

build()

public Quaternion build()

Returns
Type	Description
Quaternion

buildPartial()

public Quaternion buildPartial()

Returns
Type	Description
Quaternion

clear()

public Quaternion.Builder clear()

Returns
Type	Description
Quaternion.Builder

Overrides

GeneratedMessageV3.Builder<BuilderType>.clear()

clearField(Descriptors.FieldDescriptor field)

public Quaternion.Builder clearField(Descriptors.FieldDescriptor field)

Parameter
Name	Description
field	FieldDescriptor

Returns
Type	Description
Quaternion.Builder

Overrides

GeneratedMessageV3.Builder<BuilderType>.clearField(Descriptors.FieldDescriptor field)

clearOneof(Descriptors.OneofDescriptor oneof)

public Quaternion.Builder clearOneof(Descriptors.OneofDescriptor oneof)

Parameter
Name	Description
oneof	OneofDescriptor

Returns
Type	Description
Quaternion.Builder

Overrides

GeneratedMessageV3.Builder<BuilderType>.clearOneof(Descriptors.OneofDescriptor oneof)

clearW()

public Quaternion.Builder clearW()

The scalar component.

double w = 4;

Returns
Type	Description
Quaternion.Builder	This builder for chaining.

clearX()

public Quaternion.Builder clearX()

The x component.

double x = 1;

Returns
Type	Description
Quaternion.Builder	This builder for chaining.

clearY()

public Quaternion.Builder clearY()

The y component.

double y = 2;

Returns
Type	Description
Quaternion.Builder	This builder for chaining.

clearZ()

public Quaternion.Builder clearZ()

The z component.

double z = 3;

Returns
Type	Description
Quaternion.Builder	This builder for chaining.

clone()

public Quaternion.Builder clone()

Returns
Type	Description
Quaternion.Builder

Overrides

GeneratedMessageV3.Builder<BuilderType>.clone()

getDefaultInstanceForType()

public Quaternion getDefaultInstanceForType()

Returns
Type	Description
Quaternion

getDescriptorForType()

public Descriptors.Descriptor getDescriptorForType()

Returns
Type	Description
Descriptor

Overrides

GeneratedMessageV3.Builder<BuilderType>.getDescriptorForType()

getW()

public double getW()

The scalar component.

double w = 4;

Returns
Type	Description
double	The w.

getX()

public double getX()

The x component.

double x = 1;

Returns
Type	Description
double	The x.

getY()

public double getY()

The y component.

double y = 2;

Returns
Type	Description
double	The y.

getZ()

public double getZ()

The z component.

double z = 3;

Returns
Type	Description
double	The z.

internalGetFieldAccessorTable()

protected GeneratedMessageV3.FieldAccessorTable internalGetFieldAccessorTable()

Returns
Type	Description
FieldAccessorTable

Overrides

GeneratedMessageV3.Builder<BuilderType>.internalGetFieldAccessorTable()

isInitialized()

public final boolean isInitialized()

Returns
Type	Description
boolean

Overrides

GeneratedMessageV3.Builder<BuilderType>.isInitialized()

mergeFrom(CodedInputStream input, ExtensionRegistryLite extensionRegistry)

public Quaternion.Builder mergeFrom(CodedInputStream input, ExtensionRegistryLite extensionRegistry)

Parameters
Name	Description
input	CodedInputStream
extensionRegistry	ExtensionRegistryLite

Returns
Type	Description
Quaternion.Builder

Overrides

AbstractMessage.Builder<BuilderType>.mergeFrom(CodedInputStream input, ExtensionRegistryLite extensionRegistry)

Exceptions
Type	Description
IOException

mergeFrom(Message other)

public Quaternion.Builder mergeFrom(Message other)

Parameter
Name	Description
other	Message

Returns
Type	Description
Quaternion.Builder

Overrides

AbstractMessage.Builder<BuilderType>.mergeFrom(Message other)

mergeFrom(Quaternion other)

public Quaternion.Builder mergeFrom(Quaternion other)

Parameter
Name	Description
other	Quaternion

Returns
Type	Description
Quaternion.Builder

mergeUnknownFields(UnknownFieldSet unknownFields)

public final Quaternion.Builder mergeUnknownFields(UnknownFieldSet unknownFields)

Parameter
Name	Description
unknownFields	UnknownFieldSet

Returns
Type	Description
Quaternion.Builder

Overrides

GeneratedMessageV3.Builder<BuilderType>.mergeUnknownFields(UnknownFieldSet unknownFields)

setField(Descriptors.FieldDescriptor field, Object value)

public Quaternion.Builder setField(Descriptors.FieldDescriptor field, Object value)

Parameters
Name	Description
field	FieldDescriptor
value	Object

Returns
Type	Description
Quaternion.Builder

Overrides

GeneratedMessageV3.Builder<BuilderType>.setField(Descriptors.FieldDescriptor field, Object value)

setRepeatedField(Descriptors.FieldDescriptor field, int index, Object value)

public Quaternion.Builder setRepeatedField(Descriptors.FieldDescriptor field, int index, Object value)

Parameters
Name	Description
field	FieldDescriptor
index	int
value	Object

Returns
Type	Description
Quaternion.Builder

Overrides

GeneratedMessageV3.Builder<BuilderType>.setRepeatedField(Descriptors.FieldDescriptor field, int index, Object value)

setUnknownFields(UnknownFieldSet unknownFields)

public final Quaternion.Builder setUnknownFields(UnknownFieldSet unknownFields)

Parameter
Name	Description
unknownFields	UnknownFieldSet

Returns
Type	Description
Quaternion.Builder

Overrides

GeneratedMessageV3.Builder<BuilderType>.setUnknownFields(UnknownFieldSet unknownFields)

setW(double value)

public Quaternion.Builder setW(double value)

The scalar component.

double w = 4;

Parameter
Name	Description
value	double The w to set.

Returns
Type	Description
Quaternion.Builder	This builder for chaining.

setX(double value)

public Quaternion.Builder setX(double value)

The x component.

double x = 1;

Parameter
Name	Description
value	double The x to set.

Returns
Type	Description
Quaternion.Builder	This builder for chaining.

setY(double value)

public Quaternion.Builder setY(double value)

The y component.

double y = 2;

Parameter
Name	Description
value	double The y to set.

Returns
Type	Description
Quaternion.Builder	This builder for chaining.

setZ(double value)

public Quaternion.Builder setZ(double value)

The z component.

double z = 3;

Parameter
Name	Description
value	double The z to set.

Returns
Type	Description
Quaternion.Builder	This builder for chaining.