org.metacsp.multi.spatioTemporal.paths

Class Quaternion

java.lang.Object

org.metacsp.multi.spatioTemporal.paths.Quaternion

All Implemented Interfaces:

java.io.Serializable

public class Quaternion
extends java.lang.Object
implements java.io.Serializable

Class for maintaining and converting from/to Quaternion representations.

Author:

Federico Pecora

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor and Description
Quaternion(double theta) Creates a Quaternion from a given angle (assumed to be yaw, for 2D poses).
Quaternion(double roll, double pitch, double yaw) Creates a Quaternion from given angles (roll, pitch and yaw).
Quaternion(double x, double y, double z, double w) Create a Quaternion given its parameters.

Method Summary

Modifier and Type	Method and Description
double[]	getRollPitchYaw() Get the roll, pitch and yaw angles in radians represented by this Quaternion.
double	getTheta() Get the angle in radians represented by this Quaternion.
double	getW() Get the W component of this Quaternion.
double	getX() Get the X component of this Quaternion.
double	getY() Get the Y component of this Quaternion.
double	getZ() Get the Z component of this Quaternion.

Methods inherited from class java.lang.Object

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

Constructor Detail

Quaternion

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

Create a Quaternion given its parameters.

Parameters:

x - X component of this Quaternion.

y - Y component of this Quaternion.

z - Z component of this Quaternion.

w - W component of this Quaternion.

Quaternion

public Quaternion(double roll,
                  double pitch,
                  double yaw)

Creates a Quaternion from given angles (roll, pitch and yaw).

Parameters:

roll - The angle around the X axis

pitch - The angle around the Y axis

yaw - The angle around the Z axis

Quaternion

public Quaternion(double theta)

Creates a Quaternion from a given angle (assumed to be yaw, for 2D poses).

Parameters:

theta - The angle to encode as a Quaternion.

Method Detail

getRollPitchYaw

public double[] getRollPitchYaw()

Get the roll, pitch and yaw angles in radians represented by this Quaternion.

Returns:

The roll, pitch and yaw angles (in that order) in radians represented by this Quaternion.

getTheta

public double getTheta()

Get the angle in radians represented by this Quaternion.

Returns:

The angle in radians represented by this Quaternion.

getX

public double getX()

Get the X component of this Quaternion.

Returns:

The X component of this Quaternion.

getY

public double getY()

Get the Y component of this Quaternion.

Returns:

The Y component of this Quaternion.

getZ

public double getZ()

Get the Z component of this Quaternion.

Returns:

The Z component of this Quaternion.

getW

public double getW()

Get the W component of this Quaternion.

Returns:

The W component of this Quaternion.