Quaternion (Geometrix 1.0 API)

java.lang.Object
- org.monospark.geometrix.GeometrixObject
- - org.monospark.geometrix.rotation.Rotation
  - - org.monospark.geometrix.rotation.Quaternion

```
public final class Quaternion
extends Rotation
```
Represents a normalized quaternion.

See Also:

QuaternionHelper

Field Summary

Fields
Modifier and Type	Field and Description
`static Quaternion`	`NO_ROTATION` Represents no rotation.
`static Quaternion`	`X_180` Represents a rotation of 180 degrees around the x-axis.
`static Quaternion`	`X_270` Represents a rotation of 270 degrees around the x-axis.
`static Quaternion`	`X_90` Represents a rotation of 90 degrees around the x-axis.
`static Quaternion`	`Y_180` Represents a rotation of 180 degrees around the y-axis.
`static Quaternion`	`Y_270` Represents a rotation of 270 degrees around the y-axis.
`static Quaternion`	`Y_90` Represents a rotation of 90 degrees around the y-axis.
`static Quaternion`	`Z_180` Represents a rotation of 180 degrees around the z-axis.
`static Quaternion`	`Z_270` Represents a rotation of 270 degrees around the z-axis.
`static Quaternion`	`Z_90` Represents a rotation of 90 degrees around the z-axis.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`static Quaternion`	`create(Vec<Three> axis, double angle)` Creates a Quaternion using a rotation axis and and a rotation angle which is measured in degrees.
`static Quaternion`	`createFromAxisAngle(AxisAngle aa)` Creates a `Quaternion` using an already created `AxisAngle`.
`protected Mat<Three,Three>`	`createRotationMatrix()`
`boolean`	`equals(java.lang.Object o)`
`double`	`getW()`
`double`	`getX()`
`double`	`getY()`
`double`	`getZ()`
`int`	`hashCode()`
`boolean`	`resembles(java.lang.Object o)`
`java.lang.String`	`toString()`

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

- Field Detail
  - NO_ROTATION
```
public static final Quaternion NO_ROTATION
```
    Represents no rotation. (Not a real rotation)
  - X_90
```
public static final Quaternion X_90
```
    Represents a rotation of 90 degrees around the x-axis.
  - X_180
```
public static final Quaternion X_180
```
    Represents a rotation of 180 degrees around the x-axis.
  - X_270
```
public static final Quaternion X_270
```
    Represents a rotation of 270 degrees around the x-axis.
  - Y_90
```
public static final Quaternion Y_90
```
    Represents a rotation of 90 degrees around the y-axis.
  - Y_180
```
public static final Quaternion Y_180
```
    Represents a rotation of 180 degrees around the y-axis.
  - Y_270
```
public static final Quaternion Y_270
```
    Represents a rotation of 270 degrees around the y-axis.
  - Z_90
```
public static final Quaternion Z_90
```
    Represents a rotation of 90 degrees around the z-axis.
  - Z_180
```
public static final Quaternion Z_180
```
    Represents a rotation of 180 degrees around the z-axis.
  - Z_270
```
public static final Quaternion Z_270
```
    Represents a rotation of 270 degrees around the z-axis.
- Method Detail
  - create
```
public static Quaternion create(Vec<Three> axis,
                                double angle)
```
    Creates a Quaternion using a rotation axis and and a rotation angle which is measured in degrees.
    
    Parameters:
    
    axis - the axis of the rotation
    
    angle - the angle of the rotation
    
    Returns:
    
    a new Quaternion object with the corresponding values
    
    Throws:
    
    java.lang.NullPointerException - if axis is null
    
    java.lang.IllegalArgumentException - if axis is a zero vector
    
    java.lang.IllegalArgumentException - if angle is equal to (+/-)Infinity or NaN
  - createFromAxisAngle
```
public static Quaternion createFromAxisAngle(AxisAngle aa)
```
    Creates a Quaternion using an already created AxisAngle.
    
    Parameters:
    
    aa - the axis-angle
    
    Returns:
    
    a new Quaternion object which represents the same rotation as the AxisAngle
    
    Throws:
    
    java.lang.NullPointerException - if aa is null
  - createRotationMatrix
```
protected Mat<Three,Three> createRotationMatrix()
```
  - resembles
```
public boolean resembles(java.lang.Object o)
```
    Specified by:
    
    resembles in class GeometrixObject
  - equals
```
public boolean equals(java.lang.Object o)
```
    Specified by:
    
    equals in class GeometrixObject
  - hashCode
```
public int hashCode()
```
    Specified by:
    
    hashCode in class GeometrixObject
  - toString
```
public java.lang.String toString()
```
    Specified by:
    
    toString in class GeometrixObject
  - getX
```
public double getX()
```
    Returns:
    
    the x-coordinate of this quaternion
  - getY
```
public double getY()
```
    Returns:
    
    the y-coordinate of this quaternion
  - getZ
```
public double getZ()
```
    Returns:
    
    the z-coordinate of this quaternion
  - getW
```
public double getW()
```
    Returns:
    
    the w-coordinate of this quaternion

Class Quaternion

Field Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

NO_ROTATION

X_90

X_180

X_270

Y_90

Y_180

Y_270

Z_90

Z_180

Z_270

Method Detail

create

createFromAxisAngle

createRotationMatrix

resembles

equals

hashCode

toString

getX

getY

getZ

getW