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| <div class="subTitle">org.apache.commons.math3.complex</div> |
| <h2 title="Class Quaternion" class="title">Class Quaternion</h2> |
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| <ul class="inheritance"> |
| <li>org.apache.commons.math3.complex.Quaternion</li> |
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| <pre>public final class <span class="strong">Quaternion</span> |
| extends <a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true" title="class or interface in java.lang">Object</a> |
| implements <a href="http://docs.oracle.com/javase/6/docs/api/java/io/Serializable.html?is-external=true" title="class or interface in java.io">Serializable</a></pre> |
| <div class="block">This class implements <a href="http://mathworld.wolfram.com/Quaternion.html"> |
| quaternions</a> (Hamilton's hypercomplex numbers). |
| <br/> |
| Instance of this class are guaranteed to be immutable.</div> |
| <dl><dt><span class="strong">Since:</span></dt> |
| <dd>3.1</dd> |
| <dt><span class="strong">Version:</span></dt> |
| <dd>$Id: Quaternion.java 1421249 2012-12-13 12:32:03Z erans $</dd> |
| <dt><span class="strong">See Also:</span></dt><dd><a href="../../../../../serialized-form.html#org.apache.commons.math3.complex.Quaternion">Serialized Form</a></dd></dl> |
| </li> |
| </ul> |
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| <caption><span>Fields</span><span class="tabEnd"> </span></caption> |
| <tr> |
| <th class="colFirst" scope="col">Modifier and Type</th> |
| <th class="colLast" scope="col">Field and Description</th> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code>static <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#I">I</a></strong></code> |
| <div class="block">i</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code>static <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#IDENTITY">IDENTITY</a></strong></code> |
| <div class="block">Identity quaternion.</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code>static <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#J">J</a></strong></code> |
| <div class="block">j</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code>static <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#K">K</a></strong></code> |
| <div class="block">k</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code>static <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#ZERO">ZERO</a></strong></code> |
| <div class="block">Zero quaternion.</div> |
| </td> |
| </tr> |
| </table> |
| </li> |
| </ul> |
| <!-- ======== CONSTRUCTOR SUMMARY ======== --> |
| <ul class="blockList"> |
| <li class="blockList"><a name="constructor_summary"> |
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| <h3>Constructor Summary</h3> |
| <table class="overviewSummary" border="0" cellpadding="3" cellspacing="0" summary="Constructor Summary table, listing constructors, and an explanation"> |
| <caption><span>Constructors</span><span class="tabEnd"> </span></caption> |
| <tr> |
| <th class="colOne" scope="col">Constructor and Description</th> |
| </tr> |
| <tr class="altColor"> |
| <td class="colOne"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#Quaternion(double[])">Quaternion</a></strong>(double[] v)</code> |
| <div class="block">Builds a pure quaternion from a vector (assuming that the scalar |
| part is zero).</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colOne"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#Quaternion(double, double[])">Quaternion</a></strong>(double scalar, |
| double[] v)</code> |
| <div class="block">Builds a quaternion from scalar and vector parts.</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colOne"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#Quaternion(double, double, double, double)">Quaternion</a></strong>(double a, |
| double b, |
| double c, |
| double d)</code> |
| <div class="block">Builds a quaternion from its components.</div> |
| </td> |
| </tr> |
| </table> |
| </li> |
| </ul> |
| <!-- ========== METHOD SUMMARY =========== --> |
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| <h3>Method Summary</h3> |
| <table class="overviewSummary" border="0" cellpadding="3" cellspacing="0" summary="Method Summary table, listing methods, and an explanation"> |
| <caption><span>Methods</span><span class="tabEnd"> </span></caption> |
| <tr> |
| <th class="colFirst" scope="col">Modifier and Type</th> |
| <th class="colLast" scope="col">Method and Description</th> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#add(org.apache.commons.math3.complex.Quaternion)">add</a></strong>(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q)</code> |
| <div class="block">Computes the sum of the instance and another quaternion.</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code>static <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#add(org.apache.commons.math3.complex.Quaternion, org.apache.commons.math3.complex.Quaternion)">add</a></strong>(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q1, |
| <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q2)</code> |
| <div class="block">Computes the sum of two quaternions.</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code>double</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#dotProduct(org.apache.commons.math3.complex.Quaternion)">dotProduct</a></strong>(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q)</code> |
| <div class="block">Computes the dot-product of the instance by a quaternion.</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code>static double</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#dotProduct(org.apache.commons.math3.complex.Quaternion, org.apache.commons.math3.complex.Quaternion)">dotProduct</a></strong>(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q1, |
| <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q2)</code> |
| <div class="block">Computes the dot-product of two quaternions.</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code>boolean</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#equals(java.lang.Object)">equals</a></strong>(<a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true" title="class or interface in java.lang">Object</a> other)</code></td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code>boolean</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#equals(org.apache.commons.math3.complex.Quaternion, double)">equals</a></strong>(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q, |
| double eps)</code> |
| <div class="block">Checks whether this instance is equal to another quaternion |
| within a given tolerance.</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getConjugate()">getConjugate</a></strong>()</code> |
| <div class="block">Returns the conjugate quaternion of the instance.</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getInverse()">getInverse</a></strong>()</code> |
| <div class="block">Returns the inverse of this instance.</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code>double</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getNorm()">getNorm</a></strong>()</code> |
| <div class="block">Computes the norm of the quaternion.</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getPositivePolarForm()">getPositivePolarForm</a></strong>()</code> |
| <div class="block">Returns the polar form of the quaternion.</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code>double</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getQ0()">getQ0</a></strong>()</code> |
| <div class="block">Gets the first component of the quaternion (scalar part).</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code>double</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getQ1()">getQ1</a></strong>()</code> |
| <div class="block">Gets the second component of the quaternion (first component |
| of the vector part).</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code>double</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getQ2()">getQ2</a></strong>()</code> |
| <div class="block">Gets the third component of the quaternion (second component |
| of the vector part).</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code>double</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getQ3()">getQ3</a></strong>()</code> |
| <div class="block">Gets the fourth component of the quaternion (third component |
| of the vector part).</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code>double</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getScalarPart()">getScalarPart</a></strong>()</code> |
| <div class="block">Gets the scalar part of the quaternion.</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code>double[]</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getVectorPart()">getVectorPart</a></strong>()</code> |
| <div class="block">Gets the three components of the vector part of the quaternion.</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code>int</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#hashCode()">hashCode</a></strong>()</code></td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code>boolean</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#isPureQuaternion(double)">isPureQuaternion</a></strong>(double eps)</code> |
| <div class="block">Checks whether the instance is a pure quaternion within a given |
| tolerance.</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code>boolean</code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#isUnitQuaternion(double)">isUnitQuaternion</a></strong>(double eps)</code> |
| <div class="block">Checks whether the instance is a unit quaternion within a given |
| tolerance.</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#multiply(double)">multiply</a></strong>(double alpha)</code> |
| <div class="block">Multiplies the instance by a scalar.</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#multiply(org.apache.commons.math3.complex.Quaternion)">multiply</a></strong>(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q)</code> |
| <div class="block">Returns the Hamilton product of the instance by a quaternion.</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code>static <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#multiply(org.apache.commons.math3.complex.Quaternion, org.apache.commons.math3.complex.Quaternion)">multiply</a></strong>(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q1, |
| <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q2)</code> |
| <div class="block">Returns the Hamilton product of two quaternions.</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#normalize()">normalize</a></strong>()</code> |
| <div class="block">Computes the normalized quaternion (the versor of the instance).</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#subtract(org.apache.commons.math3.complex.Quaternion)">subtract</a></strong>(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q)</code> |
| <div class="block">Subtracts a quaternion from the instance.</div> |
| </td> |
| </tr> |
| <tr class="altColor"> |
| <td class="colFirst"><code>static <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#subtract(org.apache.commons.math3.complex.Quaternion, org.apache.commons.math3.complex.Quaternion)">subtract</a></strong>(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q1, |
| <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q2)</code> |
| <div class="block">Subtracts two quaternions.</div> |
| </td> |
| </tr> |
| <tr class="rowColor"> |
| <td class="colFirst"><code><a href="http://docs.oracle.com/javase/6/docs/api/java/lang/String.html?is-external=true" title="class or interface in java.lang">String</a></code></td> |
| <td class="colLast"><code><strong><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#toString()">toString</a></strong>()</code></td> |
| </tr> |
| </table> |
| <ul class="blockList"> |
| <li class="blockList"><a name="methods_inherited_from_class_java.lang.Object"> |
| <!-- --> |
| </a> |
| <h3>Methods inherited from class java.lang.<a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true" title="class or interface in java.lang">Object</a></h3> |
| <code><a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang">clone</a>, <a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang">finalize</a>, <a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang">getClass</a>, <a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang">notify</a>, <a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang">notifyAll</a>, <a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang">wait</a>, <a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang">wait</a>, <a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true#wait(long, int)" title="class or interface in java.lang">wait</a></code></li> |
| </ul> |
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| <pre>public static final <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> IDENTITY</pre> |
| <div class="block">Identity quaternion.</div> |
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| <pre>public static final <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> ZERO</pre> |
| <div class="block">Zero quaternion.</div> |
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| <pre>public static final <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> I</pre> |
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| <pre>public static final <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> J</pre> |
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| <pre>public static final <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> K</pre> |
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| <pre>public Quaternion(double a, |
| double b, |
| double c, |
| double d)</pre> |
| <div class="block">Builds a quaternion from its components.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>a</code> - Scalar component.</dd><dd><code>b</code> - First vector component.</dd><dd><code>c</code> - Second vector component.</dd><dd><code>d</code> - Third vector component.</dd></dl> |
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| <pre>public Quaternion(double scalar, |
| double[] v) |
| throws <a href="../../../../../org/apache/commons/math3/exception/DimensionMismatchException.html" title="class in org.apache.commons.math3.exception">DimensionMismatchException</a></pre> |
| <div class="block">Builds a quaternion from scalar and vector parts.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>scalar</code> - Scalar part of the quaternion.</dd><dd><code>v</code> - Components of the vector part of the quaternion.</dd> |
| <dt><span class="strong">Throws:</span></dt> |
| <dd><code><a href="../../../../../org/apache/commons/math3/exception/DimensionMismatchException.html" title="class in org.apache.commons.math3.exception">DimensionMismatchException</a></code> - if the array length is not 3.</dd></dl> |
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| <pre>public Quaternion(double[] v)</pre> |
| <div class="block">Builds a pure quaternion from a vector (assuming that the scalar |
| part is zero).</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>v</code> - Components of the vector part of the pure quaternion.</dd></dl> |
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| <pre>public <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> getConjugate()</pre> |
| <div class="block">Returns the conjugate quaternion of the instance.</div> |
| <dl><dt><span class="strong">Returns:</span></dt><dd>the conjugate quaternion</dd></dl> |
| </li> |
| </ul> |
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| <pre>public static <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> multiply(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q1, |
| <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q2)</pre> |
| <div class="block">Returns the Hamilton product of two quaternions.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>q1</code> - First quaternion.</dd><dd><code>q2</code> - Second quaternion.</dd> |
| <dt><span class="strong">Returns:</span></dt><dd>the product <code>q1</code> and <code>q2</code>, in that order.</dd></dl> |
| </li> |
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| <h4>multiply</h4> |
| <pre>public <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> multiply(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q)</pre> |
| <div class="block">Returns the Hamilton product of the instance by a quaternion.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>q</code> - Quaternion.</dd> |
| <dt><span class="strong">Returns:</span></dt><dd>the product of this instance with <code>q</code>, in that order.</dd></dl> |
| </li> |
| </ul> |
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| <pre>public static <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> add(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q1, |
| <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q2)</pre> |
| <div class="block">Computes the sum of two quaternions.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>q1</code> - Quaternion.</dd><dd><code>q2</code> - Quaternion.</dd> |
| <dt><span class="strong">Returns:</span></dt><dd>the sum of <code>q1</code> and <code>q2</code>.</dd></dl> |
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| <pre>public <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> add(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q)</pre> |
| <div class="block">Computes the sum of the instance and another quaternion.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>q</code> - Quaternion.</dd> |
| <dt><span class="strong">Returns:</span></dt><dd>the sum of this instance and <code>q</code></dd></dl> |
| </li> |
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| <pre>public static <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> subtract(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q1, |
| <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q2)</pre> |
| <div class="block">Subtracts two quaternions.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>q1</code> - First Quaternion.</dd><dd><code>q2</code> - Second quaternion.</dd> |
| <dt><span class="strong">Returns:</span></dt><dd>the difference between <code>q1</code> and <code>q2</code>.</dd></dl> |
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| <pre>public <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> subtract(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q)</pre> |
| <div class="block">Subtracts a quaternion from the instance.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>q</code> - Quaternion.</dd> |
| <dt><span class="strong">Returns:</span></dt><dd>the difference between this instance and <code>q</code>.</dd></dl> |
| </li> |
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| <pre>public static double dotProduct(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q1, |
| <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q2)</pre> |
| <div class="block">Computes the dot-product of two quaternions.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>q1</code> - Quaternion.</dd><dd><code>q2</code> - Quaternion.</dd> |
| <dt><span class="strong">Returns:</span></dt><dd>the dot product of <code>q1</code> and <code>q2</code>.</dd></dl> |
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| <pre>public double dotProduct(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q)</pre> |
| <div class="block">Computes the dot-product of the instance by a quaternion.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>q</code> - Quaternion.</dd> |
| <dt><span class="strong">Returns:</span></dt><dd>the dot product of this instance and <code>q</code>.</dd></dl> |
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| <pre>public double getNorm()</pre> |
| <div class="block">Computes the norm of the quaternion.</div> |
| <dl><dt><span class="strong">Returns:</span></dt><dd>the norm.</dd></dl> |
| </li> |
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| <pre>public <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> normalize()</pre> |
| <div class="block">Computes the normalized quaternion (the versor of the instance). |
| The norm of the quaternion must not be zero.</div> |
| <dl><dt><span class="strong">Returns:</span></dt><dd>a normalized quaternion.</dd> |
| <dt><span class="strong">Throws:</span></dt> |
| <dd><code><a href="../../../../../org/apache/commons/math3/exception/ZeroException.html" title="class in org.apache.commons.math3.exception">ZeroException</a></code> - if the norm of the quaternion is zero.</dd></dl> |
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| <pre>public boolean equals(<a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true" title="class or interface in java.lang">Object</a> other)</pre> |
| <dl> |
| <dt><strong>Overrides:</strong></dt> |
| <dd><code><a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang">equals</a></code> in class <code><a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true" title="class or interface in java.lang">Object</a></code></dd> |
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| <pre>public int hashCode()</pre> |
| <dl> |
| <dt><strong>Overrides:</strong></dt> |
| <dd><code><a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang">hashCode</a></code> in class <code><a href="http://docs.oracle.com/javase/6/docs/api/java/lang/Object.html?is-external=true" title="class or interface in java.lang">Object</a></code></dd> |
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| <h4>equals</h4> |
| <pre>public boolean equals(<a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> q, |
| double eps)</pre> |
| <div class="block">Checks whether this instance is equal to another quaternion |
| within a given tolerance.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>q</code> - Quaternion with which to compare the current quaternion.</dd><dd><code>eps</code> - Tolerance.</dd> |
| <dt><span class="strong">Returns:</span></dt><dd><code>true</code> if the each of the components are equal |
| within the allowed absolute error.</dd></dl> |
| </li> |
| </ul> |
| <a name="isUnitQuaternion(double)"> |
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| <h4>isUnitQuaternion</h4> |
| <pre>public boolean isUnitQuaternion(double eps)</pre> |
| <div class="block">Checks whether the instance is a unit quaternion within a given |
| tolerance.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>eps</code> - Tolerance (absolute error).</dd> |
| <dt><span class="strong">Returns:</span></dt><dd><code>true</code> if the norm is 1 within the given tolerance, |
| <code>false</code> otherwise</dd></dl> |
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| </ul> |
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| <h4>isPureQuaternion</h4> |
| <pre>public boolean isPureQuaternion(double eps)</pre> |
| <div class="block">Checks whether the instance is a pure quaternion within a given |
| tolerance.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>eps</code> - Tolerance (absolute error).</dd> |
| <dt><span class="strong">Returns:</span></dt><dd><code>true</code> if the scalar part of the quaternion is zero.</dd></dl> |
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| <pre>public <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> getPositivePolarForm()</pre> |
| <div class="block">Returns the polar form of the quaternion.</div> |
| <dl><dt><span class="strong">Returns:</span></dt><dd>the unit quaternion with positive scalar part.</dd></dl> |
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| <a name="getInverse()"> |
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| <pre>public <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> getInverse()</pre> |
| <div class="block">Returns the inverse of this instance. |
| The norm of the quaternion must not be zero.</div> |
| <dl><dt><span class="strong">Returns:</span></dt><dd>the inverse.</dd> |
| <dt><span class="strong">Throws:</span></dt> |
| <dd><code><a href="../../../../../org/apache/commons/math3/exception/ZeroException.html" title="class in org.apache.commons.math3.exception">ZeroException</a></code> - if the norm (squared) of the quaternion is zero.</dd></dl> |
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| <pre>public double getQ0()</pre> |
| <div class="block">Gets the first component of the quaternion (scalar part).</div> |
| <dl><dt><span class="strong">Returns:</span></dt><dd>the scalar part.</dd></dl> |
| </li> |
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| <pre>public double getQ1()</pre> |
| <div class="block">Gets the second component of the quaternion (first component |
| of the vector part).</div> |
| <dl><dt><span class="strong">Returns:</span></dt><dd>the first component of the vector part.</dd></dl> |
| </li> |
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| <pre>public double getQ2()</pre> |
| <div class="block">Gets the third component of the quaternion (second component |
| of the vector part).</div> |
| <dl><dt><span class="strong">Returns:</span></dt><dd>the second component of the vector part.</dd></dl> |
| </li> |
| </ul> |
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| <h4>getQ3</h4> |
| <pre>public double getQ3()</pre> |
| <div class="block">Gets the fourth component of the quaternion (third component |
| of the vector part).</div> |
| <dl><dt><span class="strong">Returns:</span></dt><dd>the third component of the vector part.</dd></dl> |
| </li> |
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| <h4>getScalarPart</h4> |
| <pre>public double getScalarPart()</pre> |
| <div class="block">Gets the scalar part of the quaternion.</div> |
| <dl><dt><span class="strong">Returns:</span></dt><dd>the scalar part.</dd><dt><span class="strong">See Also:</span></dt><dd><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getQ0()"><code>getQ0()</code></a></dd></dl> |
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| <pre>public double[] getVectorPart()</pre> |
| <div class="block">Gets the three components of the vector part of the quaternion.</div> |
| <dl><dt><span class="strong">Returns:</span></dt><dd>the vector part.</dd><dt><span class="strong">See Also:</span></dt><dd><a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getQ1()"><code>getQ1()</code></a>, |
| <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getQ2()"><code>getQ2()</code></a>, |
| <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html#getQ3()"><code>getQ3()</code></a></dd></dl> |
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| </ul> |
| <a name="multiply(double)"> |
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| <h4>multiply</h4> |
| <pre>public <a href="../../../../../org/apache/commons/math3/complex/Quaternion.html" title="class in org.apache.commons.math3.complex">Quaternion</a> multiply(double alpha)</pre> |
| <div class="block">Multiplies the instance by a scalar.</div> |
| <dl><dt><span class="strong">Parameters:</span></dt><dd><code>alpha</code> - Scalar factor.</dd> |
| <dt><span class="strong">Returns:</span></dt><dd>a scaled quaternion.</dd></dl> |
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