Package com.actelion.research.chem.alignment3d.transformation

Class Quaternion

java.lang.Object

com.actelion.research.chem.alignment3d.transformation.Quaternion

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!

Constructor Summary

Constructors

Constructor	Description
Quaternion(double q0, double q1, double q2, double q3)
Quaternion(Coordinates axis, double angle)

Method Summary

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-quickly
Matrix	getRotMatrix()	from Grassia: q0 corresponds to qw (scalar part)
void	multiply(Quaternion r)	convert Quaternion to a rotation matrix
void	normalize()
double	normSquared()
void	setQ0(double q0)
void	setQ1(double q1)
void	setQ2(double q2)
void	setQ3(double q3)
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

Quaternion

public Quaternion(double q0,
                  double q1,
                  double q2,
                  double q3)

Quaternion

public Quaternion(Coordinates axis,
                  double angle)

Method Detail

normalize

public void normalize()

setQ0

public void setQ0(double q0)

setQ1

public void setQ1(double q1)

setQ2

public void setQ2(double q2)

setQ3

public void setQ3(double q3)

getQ0

public double getQ0()

getQ1

public double getQ1()

getQ2

public double getQ2()

getQ3

public double getQ3()

normSquared

public double normSquared()

multiply

public void multiply(Quaternion r)

convert Quaternion to a rotation matrix

getRotMatrix

public Matrix getRotMatrix()

from Grassia: q0 corresponds to qw (scalar part)

Returns:

getRandomRotation

public static Quaternion getRandomRotation()

get a random quaternion, from: https://stackoverflow.com/questions/31600717/how-to-generate-a-random-quaternion-quickly

Returns:

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object