Quaternion

java.lang.Object
- org.jmol.util.Quaternion

public class Quaternion
extends java.lang.Object

Field Summary

Fields
Modifier and Type Field Description

float q0

float q1

float q2

float q3

Fields
Modifier and Type	Field	Description
`float`	`q0`
`float`	`q1`
`float`	`q2`
`float`	`q3`

Constructor Summary

Constructors
Constructor Description

Quaternion()

Constructors
Constructor	Description
`Quaternion()`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`Quaternion`	`add(float x)`
`Quaternion`	`div(Quaternion p)`
`static Quaternion[]`	`div(Quaternion[] data1, Quaternion[] data2, int nMax, boolean isRelative)`
`Quaternion`	`divLeft(Quaternion p)`
`float`	`dot(Quaternion q)`
`java.lang.String`	`draw(java.lang.String prefix, java.lang.String id, Point3f ptCenter, float scale)`
`Vector3f`	`get3dProjection(Vector3f v3d)`
`java.lang.String`	`getInfo()`
`Matrix3f`	`getMatrix()`
`Vector3f`	`getNormal()`
`Vector3f`	`getNormalDirected(Vector3f v0)`
`static Quaternion`	`getQuaternionFrame(Point3f center, Tuple3f x, Tuple3f xy)`
`static Quaternion`	`getQuaternionFrameV(Vector3f vA, Vector3f vB, Vector3f vC, boolean yBased)`
`float`	`getTheta()`
`Point4f`	`getThetaDirected(Point4f axisAngle)`
`float`	`getThetaDirectedV(Vector3f vector)`
`float`	`getThetaRadians()`
`Vector3f`	`getVector(int i)`
`Quaternion`	`inv()`
`Quaternion`	`leftDifference(Quaternion q2)`
`Quaternion`	`mul(float x)`
`Quaternion`	`mulQ(Quaternion p)`
`Quaternion`	`negate()`
`static Quaternion`	`new4(float q0, float q1, float q2, float q3)`
`static Quaternion`	`newAA(AxisAngle4f a)`
`static Quaternion`	`newM(Matrix3f mat)`
`static Quaternion`	`newP4(Point4f pt)`
`static Quaternion`	`newQ(Quaternion q)`
`static Quaternion`	`newVA(Tuple3f pt, float theta)`
`Quaternion`	`rightDifference(Quaternion q2)`
`void`	`set(Quaternion q)`
`void`	`setAA(AxisAngle4f a)`
`void`	`setM(Matrix3f mat)`
`void`	`setRef(Quaternion qref)`
`void`	`setTA(Tuple3f pt, float theta)`	q = (cos(theta/2), sin(theta/2) * n)
`static Quaternion`	`sphereMean(Quaternion[] data, float[] retStddev, float criterion)`
`AxisAngle4f`	`toAxisAngle4f()`
`Point4f`	`toPoint4f()`
`java.lang.String`	`toString()`	Java axisAngle / plane / Point4f format all have the format {x y z w} so we go with that here as well
`Vector3f`	`transform(Vector3f v)`
`void`	`transformP2(Tuple3f pt, Tuple3f ptNew)`
`Point3f`	`transformPt(Point3f pt)`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

q0
```
public float q0
```

q1
```
public float q1
```

q2
```
public float q2
```

q3
```
public float q3
```

Constructor Detail
- Quaternion
```
public Quaternion()
```

Method Detail

newQ

public static Quaternion newQ(Quaternion q)

newVA

public static Quaternion newVA(Tuple3f pt,
                               float theta)

newM

public static Quaternion newM(Matrix3f mat)

newAA

public static Quaternion newAA(AxisAngle4f a)

newP4

public static Quaternion newP4(Point4f pt)

new4

public static Quaternion new4(float q0,
                              float q1,
                              float q2,
                              float q3)

set
```
public void set(Quaternion q)
```

setTA

public void setTA(Tuple3f pt,
                  float theta)

q = (cos(theta/2), sin(theta/2) * n)

Parameters:: pt -; theta -

setAA
```
public void setAA(AxisAngle4f a)
```

setM
```
public void setM(Matrix3f mat)
```

setRef

public void setRef(Quaternion qref)

getQuaternionFrame

public static final Quaternion getQuaternionFrame(Point3f center,
                                                  Tuple3f x,
                                                  Tuple3f xy)

getQuaternionFrameV

public static final Quaternion getQuaternionFrameV(Vector3f vA,
                                                   Vector3f vB,
                                                   Vector3f vC,
                                                   boolean yBased)

getMatrix
```
public Matrix3f getMatrix()
```

add
```
public Quaternion add(float x)
```

mul
```
public Quaternion mul(float x)
```

mulQ

public Quaternion mulQ(Quaternion p)

div

public Quaternion div(Quaternion p)

divLeft

public Quaternion divLeft(Quaternion p)

dot
```
public float dot(Quaternion q)
```

inv
```
public Quaternion inv()
```

negate
```
public Quaternion negate()
```

getVector
```
public Vector3f getVector(int i)
```

getNormal
```
public Vector3f getNormal()
```
Returns:

vector such that 0 <= angle <= 180

getTheta
```
public float getTheta()
```
Returns:

0 <= angle <= 180 in degrees

getThetaRadians
```
public float getThetaRadians()
```

getNormalDirected
```
public Vector3f getNormalDirected(Vector3f v0)
```
Parameters:

v0 -

Returns:

vector option closest to v0

get3dProjection

public Vector3f get3dProjection(Vector3f v3d)

getThetaDirected
```
public Point4f getThetaDirected(Point4f axisAngle)
```
Parameters:

axisAngle -

Returns:

fill in theta of axisAngle such that

getThetaDirectedV
```
public float getThetaDirectedV(Vector3f vector)
```
Parameters:

vector - a vector, same as for getNormalDirected

Returns:

return theta

toPoint4f
```
public Point4f toPoint4f()
```

toAxisAngle4f
```
public AxisAngle4f toAxisAngle4f()
```

transformPt

public Point3f transformPt(Point3f pt)

transformP2

public void transformP2(Tuple3f pt,
                        Tuple3f ptNew)

transform

public Vector3f transform(Vector3f v)

leftDifference

public Quaternion leftDifference(Quaternion q2)

rightDifference

public Quaternion rightDifference(Quaternion q2)

getInfo
```
public java.lang.String getInfo()
```

draw

public java.lang.String draw(java.lang.String prefix,
                             java.lang.String id,
                             Point3f ptCenter,
                             float scale)

toString
```
public java.lang.String toString()
```
Java axisAngle / plane / Point4f format all have the format {x y z w} so we go with that here as well

Overrides:

toString in class java.lang.Object

Returns:

"{q1 q2 q3 q0}"

div

public static Quaternion[] div(Quaternion[] data1,
                               Quaternion[] data2,
                               int nMax,
                               boolean isRelative)

Parameters:: data1 -; data2 -; nMax - > 0 --> limit to this number; isRelative -
Returns:: pairwise array of data1 / data2 or data1 \ data2

sphereMean

public static Quaternion sphereMean(Quaternion[] data,
                                    float[] retStddev,
                                    float criterion)

Class Quaternion

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

q0

q1

q2

q3

Constructor Detail

Quaternion

Method Detail

newQ

newVA

newM

newAA

newP4

new4

set

setTA

setAA

setM

setRef

getQuaternionFrame

getQuaternionFrameV

getMatrix

add

mul

mulQ

div

divLeft

dot

inv

negate

getVector

getNormal

getTheta

getThetaRadians

getNormalDirected

get3dProjection

getThetaDirected

getThetaDirectedV

toPoint4f

toAxisAngle4f

transformPt

transformP2

transform

leftDifference

rightDifference

getInfo

draw

toString

div

sphereMean