org.openscience.cdk.math

Class Quaternion

java.lang.Object

org.openscience.cdk.math.Quaternion

public class Quaternion
extends Object

This class handles quaternions. Quaternion are 2*2 complex matrices.

Belongs to CDK module:

qm

Constructor Summary

Constructors

Constructor and Description
Quaternion()
Quaternion(double latitude, double longitude, double angle) Generate a quaternion from spherical coordinates and a rotation angle
Quaternion(double a, double b, double c, double d)
Quaternion(Vector axis, double angle) Generate a quaternion from a rotation axis and an angle

Method Summary

Modifier and Type	Method and Description
Quaternion	add(Quaternion q)
Quaternion	div(Quaternion q)
static Quaternion	fromRotationMatrix(Matrix m)
double	mag_sq()
double	mag()
Quaternion	mul(double v)
Quaternion	mul(Quaternion q)
Quaternion	negate()
Quaternion	normalize()
Quaternion	sqrt()
Quaternion	sub(Quaternion q)
Matrix	toRotationMatrix()
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

Quaternion

public Quaternion()

Quaternion

public Quaternion(double a,
                  double b,
                  double c,
                  double d)

Quaternion

public Quaternion(Vector axis,
                  double angle)

Generate a quaternion from a rotation axis and an angle

Quaternion

public Quaternion(double latitude,
                  double longitude,
                  double angle)

Generate a quaternion from spherical coordinates and a rotation angle

Method Detail

add

public Quaternion add(Quaternion q)

sub

public Quaternion sub(Quaternion q)

negate

public Quaternion negate()

mul

public Quaternion mul(Quaternion q)

mul

public Quaternion mul(double v)

div

public Quaternion div(Quaternion q)

normalize

public Quaternion normalize()

sqrt

public Quaternion sqrt()

mag_sq

public double mag_sq()

mag

public double mag()

toRotationMatrix

public Matrix toRotationMatrix()

fromRotationMatrix

public static Quaternion fromRotationMatrix(Matrix m)

toString

public String toString()

Overrides:

toString in class Object