rcs.posemath

Class PmQuaternion

java.lang.Object

rcs.posemath.PmQuaternion

All Implemented Interfaces:

java.lang.Cloneable

Direct Known Subclasses:

PM_QUATERNION

public class PmQuaternion
extends java.lang.Object
implements java.lang.Cloneable

Field Summary

Fields

Modifier and Type	Field and Description
double	s
double	x
double	y
double	z

Constructor Summary

Constructors

Constructor and Description
PmQuaternion()
PmQuaternion(double starts, double startx, double startz, double starty)
PmQuaternion(PmRotationMatrix mat)
PmQuaternion(PmRotationVector rotv)
PmQuaternion(PmRpy rpy)

Method Summary

Modifier and Type	Method and Description
PmQuaternion	clone()
boolean	equals(PmQuaternion pq)
boolean	equals(PmRotationMatrix prm)
boolean	equals(PmRotationVector prv)
double	getS()
double	getX()
double	getY()
double	getZ()
PmQuaternion	multipy(PmQuaternion other)
void	setS(double s)
void	setX(double x)
void	setY(double y)
void	setZ(double z)
java.lang.String	toString()
void	update(NMLFormatConverter nml_fc)

Methods inherited from class java.lang.Object

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

Field Detail

s

public double s

x

public double x

y

public double y

z

public double z

Constructor Detail

PmQuaternion

public PmQuaternion()

PmQuaternion

public PmQuaternion(PmRpy rpy)
             throws PmException

Throws:

PmException

PmQuaternion

public PmQuaternion(PmRotationVector rotv)
             throws PmException

Throws:

PmException

PmQuaternion

public PmQuaternion(PmRotationMatrix mat)
             throws PmException

Throws:

PmException

PmQuaternion

public PmQuaternion(double starts,
                    double startx,
                    double startz,
                    double starty)
             throws PmException

Throws:

PmException

Method Detail

update

public void update(NMLFormatConverter nml_fc)

multipy

public PmQuaternion multipy(PmQuaternion other)
                     throws PmException

Throws:

PmException

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

equals

public boolean equals(PmQuaternion pq)
               throws PmException

Throws:

PmException

equals

public boolean equals(PmRotationMatrix prm)
               throws PmException

Throws:

PmException

equals

public boolean equals(PmRotationVector prv)
               throws PmException

Throws:

PmException

clone

public PmQuaternion clone()

Overrides:

clone in class java.lang.Object

getS

public double getS()

Returns:

the s

setS

public void setS(double s)

Parameters:

s - the s to set

getX

public double getX()

Returns:

the x

setX

public void setX(double x)

Parameters:

x - the x to set

getY

public double getY()

Returns:

the y

setY

public void setY(double y)

Parameters:

y - the y to set

getZ

public double getZ()

Returns:

the z

setZ

public void setZ(double z)

Parameters:

z - the z to set