Package com.google.type
Class Quaternion.Builder
java.lang.Object
com.google.protobuf.AbstractMessageLite.Builder
com.google.protobuf.AbstractMessage.Builder<BuilderType>
com.google.protobuf.GeneratedMessageV3.Builder<Quaternion.Builder>
com.google.type.Quaternion.Builder
- All Implemented Interfaces:
com.google.protobuf.Message.Builder
,com.google.protobuf.MessageLite.Builder
,com.google.protobuf.MessageLiteOrBuilder
,com.google.protobuf.MessageOrBuilder
,QuaternionOrBuilder
,Cloneable
- Enclosing class:
- Quaternion
public static final class Quaternion.Builder
extends com.google.protobuf.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
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Method Summary
Modifier and TypeMethodDescriptionaddRepeatedField
(com.google.protobuf.Descriptors.FieldDescriptor field, Object value) build()
clear()
clearField
(com.google.protobuf.Descriptors.FieldDescriptor field) clearOneof
(com.google.protobuf.Descriptors.OneofDescriptor oneof) clearW()
The scalar component.clearX()
The x component.clearY()
The y component.clearZ()
The z component.clone()
static final com.google.protobuf.Descriptors.Descriptor
com.google.protobuf.Descriptors.Descriptor
double
getW()
The scalar component.double
getX()
The x component.double
getY()
The y component.double
getZ()
The z component.protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
final boolean
mergeFrom
(com.google.protobuf.CodedInputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry) mergeFrom
(com.google.protobuf.Message other) mergeFrom
(Quaternion other) final Quaternion.Builder
mergeUnknownFields
(com.google.protobuf.UnknownFieldSet unknownFields) setRepeatedField
(com.google.protobuf.Descriptors.FieldDescriptor field, int index, Object value) final Quaternion.Builder
setUnknownFields
(com.google.protobuf.UnknownFieldSet unknownFields) setW
(double value) The scalar component.setX
(double value) The x component.setY
(double value) The y component.setZ
(double value) The z component.Methods inherited from class com.google.protobuf.GeneratedMessageV3.Builder
getAllFields, getField, getFieldBuilder, getOneofFieldDescriptor, getParentForChildren, getRepeatedField, getRepeatedFieldBuilder, getRepeatedFieldCount, getUnknownFields, getUnknownFieldSetBuilder, hasField, hasOneof, internalGetMapField, internalGetMutableMapField, isClean, markClean, mergeUnknownLengthDelimitedField, mergeUnknownVarintField, newBuilderForField, onBuilt, onChanged, parseUnknownField, setUnknownFieldSetBuilder, setUnknownFieldsProto3
Methods inherited from class com.google.protobuf.AbstractMessage.Builder
findInitializationErrors, getInitializationErrorString, internalMergeFrom, mergeDelimitedFrom, mergeDelimitedFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, mergeFrom, newUninitializedMessageException, toString
Methods inherited from class com.google.protobuf.AbstractMessageLite.Builder
addAll, addAll, mergeFrom, newUninitializedMessageException
Methods inherited from class java.lang.Object
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
Methods inherited from interface com.google.protobuf.MessageLite.Builder
mergeFrom
Methods inherited from interface com.google.protobuf.MessageOrBuilder
findInitializationErrors, getAllFields, getField, getInitializationErrorString, getOneofFieldDescriptor, getRepeatedField, getRepeatedFieldCount, getUnknownFields, hasField, hasOneof
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Method Details
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getDescriptor
public static final com.google.protobuf.Descriptors.Descriptor getDescriptor() -
internalGetFieldAccessorTable
protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable internalGetFieldAccessorTable()- Specified by:
internalGetFieldAccessorTable
in classcom.google.protobuf.GeneratedMessageV3.Builder<Quaternion.Builder>
-
clear
- Specified by:
clear
in interfacecom.google.protobuf.Message.Builder
- Specified by:
clear
in interfacecom.google.protobuf.MessageLite.Builder
- Overrides:
clear
in classcom.google.protobuf.GeneratedMessageV3.Builder<Quaternion.Builder>
-
getDescriptorForType
public com.google.protobuf.Descriptors.Descriptor getDescriptorForType()- Specified by:
getDescriptorForType
in interfacecom.google.protobuf.Message.Builder
- Specified by:
getDescriptorForType
in interfacecom.google.protobuf.MessageOrBuilder
- Overrides:
getDescriptorForType
in classcom.google.protobuf.GeneratedMessageV3.Builder<Quaternion.Builder>
-
getDefaultInstanceForType
- Specified by:
getDefaultInstanceForType
in interfacecom.google.protobuf.MessageLiteOrBuilder
- Specified by:
getDefaultInstanceForType
in interfacecom.google.protobuf.MessageOrBuilder
-
build
- Specified by:
build
in interfacecom.google.protobuf.Message.Builder
- Specified by:
build
in interfacecom.google.protobuf.MessageLite.Builder
-
buildPartial
- Specified by:
buildPartial
in interfacecom.google.protobuf.Message.Builder
- Specified by:
buildPartial
in interfacecom.google.protobuf.MessageLite.Builder
-
clone
- Specified by:
clone
in interfacecom.google.protobuf.Message.Builder
- Specified by:
clone
in interfacecom.google.protobuf.MessageLite.Builder
- Overrides:
clone
in classcom.google.protobuf.GeneratedMessageV3.Builder<Quaternion.Builder>
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setField
public Quaternion.Builder setField(com.google.protobuf.Descriptors.FieldDescriptor field, Object value) - Specified by:
setField
in interfacecom.google.protobuf.Message.Builder
- Overrides:
setField
in classcom.google.protobuf.GeneratedMessageV3.Builder<Quaternion.Builder>
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clearField
- Specified by:
clearField
in interfacecom.google.protobuf.Message.Builder
- Overrides:
clearField
in classcom.google.protobuf.GeneratedMessageV3.Builder<Quaternion.Builder>
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clearOneof
- Specified by:
clearOneof
in interfacecom.google.protobuf.Message.Builder
- Overrides:
clearOneof
in classcom.google.protobuf.GeneratedMessageV3.Builder<Quaternion.Builder>
-
setRepeatedField
public Quaternion.Builder setRepeatedField(com.google.protobuf.Descriptors.FieldDescriptor field, int index, Object value) - Specified by:
setRepeatedField
in interfacecom.google.protobuf.Message.Builder
- Overrides:
setRepeatedField
in classcom.google.protobuf.GeneratedMessageV3.Builder<Quaternion.Builder>
-
addRepeatedField
public Quaternion.Builder addRepeatedField(com.google.protobuf.Descriptors.FieldDescriptor field, Object value) - Specified by:
addRepeatedField
in interfacecom.google.protobuf.Message.Builder
- Overrides:
addRepeatedField
in classcom.google.protobuf.GeneratedMessageV3.Builder<Quaternion.Builder>
-
mergeFrom
- Specified by:
mergeFrom
in interfacecom.google.protobuf.Message.Builder
- Overrides:
mergeFrom
in classcom.google.protobuf.AbstractMessage.Builder<Quaternion.Builder>
-
mergeFrom
-
isInitialized
public final boolean isInitialized()- Specified by:
isInitialized
in interfacecom.google.protobuf.MessageLiteOrBuilder
- Overrides:
isInitialized
in classcom.google.protobuf.GeneratedMessageV3.Builder<Quaternion.Builder>
-
mergeFrom
public Quaternion.Builder mergeFrom(com.google.protobuf.CodedInputStream input, com.google.protobuf.ExtensionRegistryLite extensionRegistry) throws IOException - Specified by:
mergeFrom
in interfacecom.google.protobuf.Message.Builder
- Specified by:
mergeFrom
in interfacecom.google.protobuf.MessageLite.Builder
- Overrides:
mergeFrom
in classcom.google.protobuf.AbstractMessage.Builder<Quaternion.Builder>
- Throws:
IOException
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getX
public double getX()The x component.
double x = 1;
- Specified by:
getX
in interfaceQuaternionOrBuilder
- Returns:
- The x.
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setX
The x component.
double x = 1;
- Parameters:
value
- The x to set.- Returns:
- This builder for chaining.
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clearX
The x component.
double x = 1;
- Returns:
- This builder for chaining.
-
getY
public double getY()The y component.
double y = 2;
- Specified by:
getY
in interfaceQuaternionOrBuilder
- Returns:
- The y.
-
setY
The y component.
double y = 2;
- Parameters:
value
- The y to set.- Returns:
- This builder for chaining.
-
clearY
The y component.
double y = 2;
- Returns:
- This builder for chaining.
-
getZ
public double getZ()The z component.
double z = 3;
- Specified by:
getZ
in interfaceQuaternionOrBuilder
- Returns:
- The z.
-
setZ
The z component.
double z = 3;
- Parameters:
value
- The z to set.- Returns:
- This builder for chaining.
-
clearZ
The z component.
double z = 3;
- Returns:
- This builder for chaining.
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getW
public double getW()The scalar component.
double w = 4;
- Specified by:
getW
in interfaceQuaternionOrBuilder
- Returns:
- The w.
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setW
The scalar component.
double w = 4;
- Parameters:
value
- The w to set.- Returns:
- This builder for chaining.
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clearW
The scalar component.
double w = 4;
- Returns:
- This builder for chaining.
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setUnknownFields
- Specified by:
setUnknownFields
in interfacecom.google.protobuf.Message.Builder
- Overrides:
setUnknownFields
in classcom.google.protobuf.GeneratedMessageV3.Builder<Quaternion.Builder>
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mergeUnknownFields
public final Quaternion.Builder mergeUnknownFields(com.google.protobuf.UnknownFieldSet unknownFields) - Specified by:
mergeUnknownFields
in interfacecom.google.protobuf.Message.Builder
- Overrides:
mergeUnknownFields
in classcom.google.protobuf.GeneratedMessageV3.Builder<Quaternion.Builder>
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