SRM

Class OrientationQuaternion

java.lang.Object

SRM.Orientation

SRM.OrientationQuaternion

All Implemented Interfaces:

Cloneable

public class OrientationQuaternion
extends Orientation

The concrete class for the orientation in quaternion representation.

See Also:

Orientation

Field Summary

Fields inherited from class SRM.Orientation

epsilon

Constructor Summary

Constructors

Constructor and Description
OrientationQuaternion() Default constructor.
OrientationQuaternion(double e0, double e1, double e2, double e3) Constructor using quaternion (e0, e1, e2, e3) pamameters
OrientationQuaternion(SRM_Quaternion_Params params) Constructor using quaternion pamameter

Method Summary

Methods

Modifier and Type	Method and Description
protected void	_updateIntData() the virtual function to convert the data from native representation to the internal representation
protected void	_updateRepData() the virtual function to convert the data from internal representation to the native representation
static OrientationQuaternion	compose(Orientation left, Orientation right) Composes the right orientation with the left orientation and returns the result in the output orientation, i.e., composed_ori = left*right.
SRM_Ori_Rep	getOriRep() Returns the native orientation representation type.
SRM_Quaternion_Params	getQuaternion() Gets the quaternion orientation representation
void	setQuaternion(SRM_Quaternion_Params params) Sets the quaternion orientation representation
String	toString() Returns the string for the quaternion orientation representation

Methods inherited from class SRM.Orientation

_get_internal_data_is_current, _get_matrix_base_unch, _get_matrix_base, _set_internal_data_is_current, _set_matrix_base, equivalence, equivalence, getAxisAngle, getEulerAnglesZXZ, getMatrix3x3, getTaitBryanAngles, isEqual, setAxisAngle, setAxisAngle, setEulerAnglesZXZ, setEulerAnglesZXZ, setMatrix3x3, setMatrix3x3, setQuaternion, setTaitBryanAngles, setTaitBryanAngles, transformVector

Methods inherited from class java.lang.Object

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

Constructor Detail

OrientationQuaternion

public OrientationQuaternion()

Default constructor. The default value is identity (0, 1, 0, 0).

OrientationQuaternion

public OrientationQuaternion(SRM_Quaternion_Params params)
                      throws SrmException

Constructor using quaternion pamameter

Throws:

This - method throws srm::Exception

SrmException

OrientationQuaternion

public OrientationQuaternion(double e0,
                     double e1,
                     double e2,
                     double e3)
                      throws SrmException

Constructor using quaternion (e0, e1, e2, e3) pamameters

Parameters:

e0 - in: the scale (real) parameter

e1 - in: the vector multiplier in (i) direction

e2 - in: the vector multiplier in (j) direction

e3 - in: the vector multiplier in (k) direction

Throws:

This - method throws srm::Exception

SrmException

Method Detail

getQuaternion

public SRM_Quaternion_Params getQuaternion()

Gets the quaternion orientation representation

Overrides:

getQuaternion in class Orientation

setQuaternion

public void setQuaternion(SRM_Quaternion_Params params)
                   throws SrmException

Sets the quaternion orientation representation

Overrides:

setQuaternion in class Orientation

Throws:

This - method throws srm::Exception

SrmException

toString

public String toString()

Returns the string for the quaternion orientation representation

Specified by:

toString in class Orientation

getOriRep

public SRM_Ori_Rep getOriRep()

Returns the native orientation representation type.

Specified by:

getOriRep in class Orientation

compose

public static OrientationQuaternion compose(Orientation left,
                            Orientation right)
                                     throws SrmException

Composes the right orientation with the left orientation and returns the result in the output orientation, i.e., composed_ori = left*right.

Throws:

SrmException

_updateIntData

protected void _updateIntData()

Description copied from class: Orientation

the virtual function to convert the data from native representation to the internal representation

Specified by:

_updateIntData in class Orientation

_updateRepData

protected void _updateRepData()

Description copied from class: Orientation

the virtual function to convert the data from internal representation to the native representation

Specified by:

_updateRepData in class Orientation