Uses of Class
com.irurueta.geometry.Quaternion

Packages that use Quaternion

Package	Description
com.irurueta.geometry	This package contains classes to work with basic geometric entities such as 2D or 3D points, lines, planes, 2D or 3D triangles or polygons, circles, spheres, rotations, transformations etc.
com.irurueta.geometry.estimators	This package contains classes to estimate basic geometric structures
com.irurueta.geometry.refiners

Uses of Quaternion in com.irurueta.geometry

Methods in com.irurueta.geometry that return Quaternion

Modifier and Type	Method	Description
Quaternion	Quaternion.clone()	Returns a new quaternion instance containing the same data as this instance.
Quaternion	Quaternion.combineAndReturnNew(Quaternion q)	Combines provided quaternion with this quaternion and returns the result as a new quaternion instance.
Quaternion	Quaternion.conjugateAndReturnNew()	Computes the conjugate of this quaternion.
Quaternion	Quaternion.inverseAndReturnNew()	Inverts this quaternion instance so that q * q^-1 = 1.
static Quaternion	Quaternion.inverseAndReturnNew(Quaternion q)	Inverts a quaternion so that q * q^-1 = 1.
Quaternion	Quaternion.multiplyAndReturnNew(Quaternion q)	Multiplies this quaternion with provided one and returns the result as a new quaternion instance.
Quaternion	Quaternion.slerpAndReturnNew(Quaternion q, double t)	Computes a linear interpolation between this quaternion and provided quaternion using provided value as the interpolation ratio.
static Quaternion	Quaternion.slerpAndReturnNew(Quaternion q1, Quaternion q2, double t)	Computes a linear interpolation between provided quaternions using provided value as the interpolation ratio.
Quaternion	Rotation3D.toQuaternion()	Converts this 3D rotation into a quaternion and returns the result as a new instance.

Methods in com.irurueta.geometry with parameters of type Quaternion

Modifier and Type	Method	Description
void	Quaternion.combine(Quaternion q)	Combines provided quaternion into this quaternion, resulting in the multiplication of both quaternion representations.
static void	Quaternion.combine(Quaternion q1, Quaternion q2, Quaternion result)	Combines provided quaternions q1 and q2 to produce a resulting quaternion equivalent to the combined rotation of both quaternions.
Quaternion	Quaternion.combineAndReturnNew(Quaternion q)	Combines provided quaternion with this quaternion and returns the result as a new quaternion instance.
void	Quaternion.conjugate(Quaternion result)	Computes the conjugate of this quaternion and stores the result into provided instance.
void	Quaternion.conjugate(Quaternion result, com.irurueta.algebra.Matrix jacobian)	Computes the conjugate of this quaternion and stores the result into provided instance.
void	Quaternion.copyTo(Quaternion output)	Copies this instance data into provided quaternion instance.
final void	Quaternion.fromQuaternion(Quaternion quaternion)	Copies values from provided quaternion into this instance.
void	AxisRotation3D.fromRotation(Quaternion q)	Sets values of this rotation from a quaternion.
void	MatrixRotation3D.fromRotation(Quaternion q)	Sets values of this rotation from a quaternion.
void	Quaternion.fromRotation(Quaternion q)	Sets values of this rotation from a quaternion.
abstract void	Rotation3D.fromRotation(Quaternion q)	Sets values of this rotation from a quaternion.
void	Quaternion.inverse(Quaternion result)	Inverts this quaternion instance so that q * q^-1 = 1.
static void	Quaternion.inverse(Quaternion q, Quaternion result)	Inverts a quaternion so that q * q^-1 = 1.
static Quaternion	Quaternion.inverseAndReturnNew(Quaternion q)	Inverts a quaternion so that q * q^-1 = 1.
void	Quaternion.inverseRotation(Quaternion result)	Inverts this quaternion instance so that q * q^-1 = 1.
static void	Quaternion.matrixRotationToQuaternion(com.irurueta.algebra.Matrix r, Quaternion result)	Converts rotation matrix into a quaternion.
static void	Quaternion.matrixRotationToQuaternion(MatrixRotation3D rotation, Quaternion result)	Converts 3D matrix rotation into a quaternion.
void	Quaternion.multiply(Quaternion q)	Multiplies this quaternion with provided one and stores the result in this instance.
void	Quaternion.multiply(Quaternion q, Quaternion result)	Multiplies this quaternion with provided one and stores the result into provided instance.
Quaternion	Quaternion.multiplyAndReturnNew(Quaternion q)	Multiplies this quaternion with provided one and returns the result as a new quaternion instance.
static void	Quaternion.product(Quaternion q1, Quaternion q2, Quaternion result)	Multiplies quaternion q1 with quaternion q2 and stores the result into provided instance.
static void	Quaternion.product(Quaternion q1, Quaternion q2, Quaternion result, com.irurueta.algebra.Matrix jacobianQ1, com.irurueta.algebra.Matrix jacobianQ2)	Multiplies quaternion q1 with quaternion q2 and stores the result into provided instance.
static com.irurueta.algebra.Matrix	RotationUtils.quaternionToConjugatedPiMatrix(Quaternion quaternion)	Converts provided quaternion into conjugated Pi matrix.
static void	RotationUtils.quaternionToConjugatedPiMatrix(Quaternion quaternion, com.irurueta.algebra.Matrix result)	Converts provided quaternion into conjugated Pi matrix.
static void	RotationUtils.quaternionToEulerGaussian(Quaternion q, com.irurueta.algebra.Matrix quaternionCovariance, double[] angles, com.irurueta.algebra.Matrix anglesCovariance)	Transform quaternion Gaussian to Euler Gaussian.
static com.irurueta.algebra.Matrix	RotationUtils.quaternionToPiMatrix(Quaternion quaternion)	Converts provided quaternion into Pi matrix.
static void	RotationUtils.quaternionToPiMatrix(Quaternion quaternion, com.irurueta.algebra.Matrix result)	Converts provided quaternion into Pi matrix.
static void	Quaternion.rotate(Quaternion q, Point3D inputPoint, Point3D resultPoint, com.irurueta.algebra.Matrix jacobianPoint, com.irurueta.algebra.Matrix jacobianQuaternion)	Rotates a 3D point using the origin of coordinates as the axis of rotation.
static double[]	RotationUtils.rotationMatrixTimesVector(Quaternion q, double[] point)	Rotates a point by using the rotation matrix obtained from a quaternion.
static void	RotationUtils.rotationMatrixTimesVector(Quaternion q, double[] point, double[] result)	Rotates a point by using the rotation matrix obtained from a quaternion.
static void	RotationUtils.rotationMatrixTimesVector(Quaternion q, double[] point, double[] result, com.irurueta.algebra.Matrix jacobianQ, com.irurueta.algebra.Matrix jacobianP)	Rotates a point by using the rotation matrix obtained from a quaternion.
static double[]	RotationUtils.rotationMatrixTimesVector(Quaternion q, double[] point, com.irurueta.algebra.Matrix jacobianQ, com.irurueta.algebra.Matrix jacobianP)	Rotates a point by using the rotation matrix obtained from a quaternion.
static Point3D	RotationUtils.rotationMatrixTimesVector(Quaternion q, Point3D point)	Rotates a 3D point by using the rotation matrix obtained from a quaternion.
static Point3D	RotationUtils.rotationMatrixTimesVector(Quaternion q, Point3D point, com.irurueta.algebra.Matrix jacobianQ, com.irurueta.algebra.Matrix jacobianP)	Rotates a 3D point by using the rotation matrix obtained from a quaternion.
static void	RotationUtils.rotationMatrixTimesVector(Quaternion q, Point3D point, Point3D result)	Rotates a 3D point by using the rotation matrix obtained from a quaternion.
static void	RotationUtils.rotationMatrixTimesVector(Quaternion q, Point3D point, Point3D result, com.irurueta.algebra.Matrix jacobianQ, com.irurueta.algebra.Matrix jacobianP)	Rotates a 3D point by using the rotation matrix obtained from a quaternion.
static void	Quaternion.rotationVectorToQuaternion(double[] rotationVector, Quaternion result)	Converts a rotation vector (rotation axis having a norm equal to the rotation angle) into a quaternion.
static void	Quaternion.rotationVectorToQuaternion(double[] rotationVector, Quaternion result, com.irurueta.algebra.Matrix jacobian)	Converts a rotation vector (rotation axis having a norm equal to the rotation angle) into a quaternion, and stores the corresponding jacobian of the quaternion respect to the vector if provided.
void	Quaternion.slerp(Quaternion q, double t, Quaternion result)	Computes a linear interpolation between this quaternion and provided quaternion using provided value as the interpolation ratio and stores the result into provided result quaternion.
static void	Quaternion.slerp(Quaternion q1, Quaternion q2, double t, Quaternion result)	Computes a linear interpolation between provided quaternions using provided value as the interpolation ratio, and stores the result into provided result quaternion.
Quaternion	Quaternion.slerpAndReturnNew(Quaternion q, double t)	Computes a linear interpolation between this quaternion and provided quaternion using provided value as the interpolation ratio.
static Quaternion	Quaternion.slerpAndReturnNew(Quaternion q1, Quaternion q2, double t)	Computes a linear interpolation between provided quaternions using provided value as the interpolation ratio.
void	AxisRotation3D.toQuaternion(Quaternion result)	Converts this 3D rotation into a quaternion storing the result into provided instance.
void	MatrixRotation3D.toQuaternion(Quaternion result)	Converts this 3D rotation into a quaternion storing the result into provided instance.
void	Quaternion.toQuaternion(Quaternion result)	Converts this 3D rotation into a quaternion storing the result into provided instance.
void	Rotation3D.toQuaternion(Quaternion result)	Converts this 3D rotation into a quaternion storing the result into provided instance.
static double[]	RotationUtils.transposedRotationMatrixTimesVector(Quaternion q, double[] point)	Rotates a point by the inverse rotation obtained from a quaternion.
static void	RotationUtils.transposedRotationMatrixTimesVector(Quaternion q, double[] point, double[] result)	Rotates a point by the inverse rotation obtained from a quaternion.
static void	RotationUtils.transposedRotationMatrixTimesVector(Quaternion q, double[] point, double[] result, com.irurueta.algebra.Matrix jacobianQ, com.irurueta.algebra.Matrix jacobianP)	Rotates a point by the inverse rotation obtained from a quaternion.
static double[]	RotationUtils.transposedRotationMatrixTimesVector(Quaternion q, double[] point, com.irurueta.algebra.Matrix jacobianQ, com.irurueta.algebra.Matrix jacobianP)	Rotates a point by the inverse rotation obtained from a quaternion.
static Point3D	RotationUtils.transposedRotationMatrixTimesVector(Quaternion q, Point3D point)	Rotates a 3D point by the inverse rotation obtained from a quaternion.
static Point3D	RotationUtils.transposedRotationMatrixTimesVector(Quaternion q, Point3D point, com.irurueta.algebra.Matrix jacobianQ, com.irurueta.algebra.Matrix jacobianP)	Rotates a 3D point by the inverse rotation obtained from a quaternion.
static void	RotationUtils.transposedRotationMatrixTimesVector(Quaternion q, Point3D point, Point3D result)	Rotates a 3D point by the inverse rotation obtained from a quaternion.
static void	RotationUtils.transposedRotationMatrixTimesVector(Quaternion q, Point3D point, Point3D result, com.irurueta.algebra.Matrix jacobianQ, com.irurueta.algebra.Matrix jacobianP)	Rotates a 3D point by the inverse rotation obtained from a quaternion.

Constructors in com.irurueta.geometry with parameters of type Quaternion

Modifier	Constructor	Description
	Quaternion(Quaternion quaternion)	Constructor.

Uses of Quaternion in com.irurueta.geometry.estimators

Fields in com.irurueta.geometry.estimators declared as Quaternion

Modifier and Type	Field	Description
protected Quaternion	PinholeCameraEstimator.suggestedRotationValue	Suggested rotation to be reached when suggestion is enabled.
protected Quaternion	PinholeCameraRobustEstimator.suggestedRotationValue	Suggested rotation to be reached when suggestion is enabled.

Methods in com.irurueta.geometry.estimators that return Quaternion

Modifier and Type	Method	Description
Quaternion	PinholeCameraEstimator.getSuggestedRotationValue()	Gets suggested rotation to be reached when suggestion is enabled.
Quaternion	PinholeCameraRobustEstimator.getSuggestedRotationValue()	Gets suggested rotation to be reached when suggestion is enabled.

Methods in com.irurueta.geometry.estimators with parameters of type Quaternion

Modifier and Type	Method	Description
void	PinholeCameraEstimator.setSuggestedRotationValue(Quaternion suggestedRotationValue)	Sets suggested rotation to be reached when suggestion is enabled.
void	PinholeCameraRobustEstimator.setSuggestedRotationValue(Quaternion suggestedRotationValue)	Sets suggested rotation to be reached when suggestion is enabled.

Uses of Quaternion in com.irurueta.geometry.refiners

Fields in com.irurueta.geometry.refiners declared as Quaternion

Modifier and Type	Field	Description
private Quaternion	EuclideanTransformation3DRefiner.quaternion	Quaternion to be reused for refinement computations.
private Quaternion	MetricTransformation3DRefiner.quaternion	Quaternion to be reused for refinement computations.
private Quaternion	PinholeCameraRefiner.residualRotation	Instance to be reused to compute residual on rotation.
private Quaternion	PinholeCameraRefiner.suggestedRotationValue	Suggested rotation to be reached when suggestion is enabled.

Methods in com.irurueta.geometry.refiners that return Quaternion

Modifier and Type	Method	Description
Quaternion	PinholeCameraRefiner.getSuggestedRotationValue()	Gets suggested rotation to be reached when suggestion is enabled.

Methods in com.irurueta.geometry.refiners with parameters of type Quaternion

Modifier and Type	Method	Description
void	PinholeCameraRefiner.setSuggestedRotationValue(Quaternion suggestedRotationValue)	Sets suggested rotation to be reached when suggestion is enabled.