rcs.posemath
Class PmQuaternion

java.lang.Object
  extended by rcs.posemath.PmQuaternion
All Implemented Interfaces:
java.lang.Cloneable
Direct Known Subclasses:
PM_QUATERNION

public class PmQuaternion
extends java.lang.Object
implements java.lang.Cloneable


Field Summary
 double s
           
 double x
           
 double y
           
 double z
           
 
Constructor Summary
PmQuaternion()
           
PmQuaternion(double starts, double startx, double startz, double starty)
           
PmQuaternion(PmRpy rpy)
           
 
Method Summary
 PmQuaternion clone()
           
 boolean equals(PmQuaternion pq)
           
 boolean equals(PmRotationMatrix prm)
           
 boolean equals(PmRotationVector prv)
           
 double getS()
           
 double getX()
           
 double getY()
           
 double getZ()
           
 void setS(double s)
           
 void setX(double x)
           
 void setY(double y)
           
 void setZ(double z)
           
 java.lang.String toString()
           
 void update(NMLFormatConverter nml_fc)
           
 
Methods inherited from class java.lang.Object
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Field Detail

s

public double s

x

public double x

y

public double y

z

public double z
Constructor Detail

PmQuaternion

public PmQuaternion()

PmQuaternion

public PmQuaternion(PmRpy rpy)
             throws PmException
Throws:
PmException

PmQuaternion

public PmQuaternion(double starts,
                    double startx,
                    double startz,
                    double starty)
             throws PmException
Throws:
PmException
Method Detail

update

public void update(NMLFormatConverter nml_fc)

toString

public java.lang.String toString()
Overrides:
toString in class java.lang.Object

equals

public boolean equals(PmQuaternion pq)
               throws PmException
Throws:
PmException

equals

public boolean equals(PmRotationMatrix prm)
               throws PmException
Throws:
PmException

equals

public boolean equals(PmRotationVector prv)
               throws PmException
Throws:
PmException

clone

public PmQuaternion clone()
Overrides:
clone in class java.lang.Object

getS

public double getS()
Returns:
the s

setS

public void setS(double s)
Parameters:
s - the s to set

getX

public double getX()
Returns:
the x

setX

public void setX(double x)
Parameters:
x - the x to set

getY

public double getY()
Returns:
the y

setY

public void setY(double y)
Parameters:
y - the y to set

getZ

public double getZ()
Returns:
the z

setZ

public void setZ(double z)
Parameters:
z - the z to set