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NUMBERS-80: Renamed instance fields.
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Gilles Sadowski committed Dec 11, 2018
1 parent 51aa18f commit 1d872c6
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Showing 2 changed files with 161 additions and 161 deletions.
188 changes: 94 additions & 94 deletions ...ns-numbers-quaternion/src/main/java/org/apache/commons/numbers/quaternion/Quaternion.java
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Original file line number Diff line number Diff line change
Expand Up @@ -52,13 +52,13 @@ public final class Quaternion implements Serializable {
private static final String FORMAT_SEP = " ";

/** First component (scalar part). */
private final double q0;
private final double w;
/** Second component (first vector part). */
private final double q1;
private final double x;
/** Third component (second vector part). */
private final double q2;
private final double y;
/** Fourth component (third vector part). */
private final double q3;
private final double z;

/**
* Builds a quaternion from its components.
Expand All @@ -72,10 +72,10 @@ private Quaternion(final double a,
final double b,
final double c,
final double d) {
q0 = a;
q1 = b;
q2 = c;
q3 = d;
w = a;
x = b;
y = c;
z = d;
}

/**
Expand All @@ -92,10 +92,10 @@ private Quaternion(final double scalar,
throw new IllegalArgumentException("Size of array must be 3");
}

q0 = scalar;
q1 = v[0];
q2 = v[1];
q3 = v[2];
w = scalar;
x = v[0];
y = v[1];
z = v[2];
}

/**
Expand Down Expand Up @@ -146,29 +146,29 @@ public static Quaternion of(final double[] v) {
* @return the conjugate of this quaternion object.
*/
public Quaternion conjugate() {
return new Quaternion(q0, -q1, -q2, -q3);
return new Quaternion(w, -x, -y, -z);
}

/**
* Returns the Hamilton product of two quaternions.
*
* @param q1 First quaternion.
* @param x First quaternion.
* @param q2 Second quaternion.
* @return the product {@code q1} and {@code q2}, in that order.
* @return the product {@code x} and {@code q2}, in that order.
*/
public static Quaternion multiply(final Quaternion q1,
final Quaternion q2) {
// Components of the first quaternion.
final double q1a = q1.q0;
final double q1b = q1.q1;
final double q1c = q1.q2;
final double q1d = q1.q3;
final double q1a = q1.w;
final double q1b = q1.x;
final double q1c = q1.y;
final double q1d = q1.z;

// Components of the second quaternion.
final double q2a = q2.q0;
final double q2b = q2.q1;
final double q2c = q2.q2;
final double q2d = q2.q3;
final double q2a = q2.w;
final double q2b = q2.x;
final double q2c = q2.y;
final double q2d = q2.z;

// Components of the product.
final double w = q1a * q2a - q1b * q2b - q1c * q2c - q1d * q2d;
Expand Down Expand Up @@ -198,17 +198,17 @@ public Quaternion multiply(final Quaternion q) {
*/
public static Quaternion add(final Quaternion q1,
final Quaternion q2) {
return new Quaternion(q1.q0 + q2.q0,
q1.q1 + q2.q1,
q1.q2 + q2.q2,
q1.q3 + q2.q3);
return new Quaternion(q1.w + q2.w,
q1.x + q2.x,
q1.y + q2.y,
q1.z + q2.z);
}

/**
* Computes the sum of the instance and another quaternion.
*
* @param q Quaternion.
* @return the sum of this instance and {@code q}
* @return the sum of this instance and {@code q}.
*/
public Quaternion add(final Quaternion q) {
return add(this, q);
Expand All @@ -223,10 +223,10 @@ public Quaternion add(final Quaternion q) {
*/
public static Quaternion subtract(final Quaternion q1,
final Quaternion q2) {
return new Quaternion(q1.q0 - q2.q0,
q1.q1 - q2.q1,
q1.q2 - q2.q2,
q1.q3 - q2.q3);
return new Quaternion(q1.w - q2.w,
q1.x - q2.x,
q1.y - q2.y,
q1.z - q2.z);
}

/**
Expand All @@ -248,10 +248,10 @@ public Quaternion subtract(final Quaternion q) {
*/
public static double dotProduct(final Quaternion q1,
final Quaternion q2) {
return q1.q0 * q2.q0 +
q1.q1 * q2.q1 +
q1.q2 * q2.q2 +
q1.q3 * q2.q3;
return q1.w * q2.w +
q1.x * q2.x +
q1.y * q2.y +
q1.z * q2.z;
}

/**
Expand Down Expand Up @@ -279,10 +279,10 @@ public double norm() {
* @return the square of the norm.
*/
public double norm2() {
return q0 * q0 +
q1 * q1 +
q2 * q2 +
q3 * q3;
return w * w +
x * x +
y * y +
z * z;
}

/**
Expand Down Expand Up @@ -312,10 +312,10 @@ public boolean equals(Object other) {
}
if (other instanceof Quaternion) {
final Quaternion q = (Quaternion) other;
return ((Double)q0).equals(q.q0) &&
((Double)q1).equals(q.q1) &&
((Double)q2).equals(q.q2) &&
((Double)q3).equals(q.q3);
return ((Double) w).equals(q.w) &&
((Double) x).equals(q.x) &&
((Double) y).equals(q.y) &&
((Double) z).equals(q.z);
}

return false;
Expand All @@ -326,7 +326,7 @@ public boolean equals(Object other) {
*/
@Override
public int hashCode() {
return Arrays.hashCode(new double[] { q0, q1, q2, q3 });
return Arrays.hashCode(new double[] { w, x, y, z });
}

/**
Expand All @@ -340,10 +340,10 @@ public int hashCode() {
*/
public boolean equals(final Quaternion q,
final double eps) {
return Precision.equals(q0, q.q0, eps) &&
Precision.equals(q1, q.q1, eps) &&
Precision.equals(q2, q.q2, eps) &&
Precision.equals(q3, q.q3, eps);
return Precision.equals(w, q.w, eps) &&
Precision.equals(x, q.x, eps) &&
Precision.equals(y, q.y, eps) &&
Precision.equals(z, q.z, eps);
}

/**
Expand All @@ -366,7 +366,7 @@ public boolean isUnitQuaternion(double eps) {
* @return {@code true} if the scalar part of the quaternion is zero.
*/
public boolean isPureQuaternion(double eps) {
return Math.abs(q0) <= eps;
return Math.abs(w) <= eps;
}

/**
Expand All @@ -375,14 +375,14 @@ public boolean isPureQuaternion(double eps) {
* @return the unit quaternion with positive scalar part.
*/
public Quaternion positivePolarForm() {
if (q0 < 0) {
if (w < 0) {
final Quaternion unitQ = normalize();
// The quaternion of rotation (normalized quaternion) q and -q
// are equivalent (i.e. represent the same rotation).
return new Quaternion(-unitQ.q0,
-unitQ.q1,
-unitQ.q2,
-unitQ.q3);
return new Quaternion(-unitQ.w,
-unitQ.x,
-unitQ.y,
-unitQ.z);
} else {
return this.normalize();
}
Expand All @@ -401,19 +401,19 @@ public Quaternion inverse() {
throw new IllegalStateException(ZERO_NORM_MSG);
}

return new Quaternion(q0 / squareNorm,
-q1 / squareNorm,
-q2 / squareNorm,
-q3 / squareNorm);
return new Quaternion(w / squareNorm,
-x / squareNorm,
-y / squareNorm,
-z / squareNorm);
}

/**
* Gets the first component of the quaternion (scalar part).
*
* @return the scalar part.
*/
public double getQ0() {
return q0;
public double getW() {
return w;
}

/**
Expand All @@ -422,8 +422,8 @@ public double getQ0() {
*
* @return the first component of the vector part.
*/
public double getQ1() {
return q1;
public double getX() {
return x;
}

/**
Expand All @@ -432,8 +432,8 @@ public double getQ1() {
*
* @return the second component of the vector part.
*/
public double getQ2() {
return q2;
public double getY() {
return y;
}

/**
Expand All @@ -442,30 +442,30 @@ public double getQ2() {
*
* @return the third component of the vector part.
*/
public double getQ3() {
return q3;
public double getZ() {
return z;
}

/**
* Gets the scalar part of the quaternion.
*
* @return the scalar part.
* @see #getQ0()
* @see #getW()
*/
public double getScalarPart() {
return q0;
return w;
}

/**
* Gets the three components of the vector part of the quaternion.
*
* @return the vector part.
* @see #getQ1()
* @see #getQ2()
* @see #getQ3()
* @see #getX()
* @see #getY()
* @see #getZ()
*/
public double[] getVectorPart() {
return new double[] { q1, q2, q3 };
return new double[] { x, y, z };
}

/**
Expand All @@ -475,10 +475,10 @@ public double[] getVectorPart() {
* @return a scaled quaternion.
*/
public Quaternion multiply(final double alpha) {
return new Quaternion(alpha * q0,
alpha * q1,
alpha * q2,
alpha * q3);
return new Quaternion(alpha * w,
alpha * x,
alpha * y,
alpha * z);
}

/**
Expand All @@ -488,10 +488,10 @@ public Quaternion multiply(final double alpha) {
* @return a scaled quaternion.
*/
public Quaternion divide(final double alpha) {
return new Quaternion(q0 / alpha,
q1 / alpha,
q2 / alpha,
q3 / alpha);
return new Quaternion(w / alpha,
x / alpha,
y / alpha,
z / alpha);
}

/**
Expand Down Expand Up @@ -520,32 +520,32 @@ public static Quaternion parse(String s) {
" (separator is '" + FORMAT_SEP + "')");
}

final double q1;
final double a;
try {
q1 = Double.parseDouble(elements[0]);
a = Double.parseDouble(elements[0]);
} catch (NumberFormatException ex) {
throw new QuaternionParsingException("Could not parse scalar part" + elements[0]);
}
final double q2;
final double b;
try {
q2 = Double.parseDouble(elements[1]);
b = Double.parseDouble(elements[1]);
} catch (NumberFormatException ex) {
throw new QuaternionParsingException("Could not parse i part" + elements[1]);
}
final double q3;
final double c;
try {
q3 = Double.parseDouble(elements[2]);
c = Double.parseDouble(elements[2]);
} catch (NumberFormatException ex) {
throw new QuaternionParsingException("Could not parse j part" + elements[2]);
}
final double q4;
final double d;
try {
q4 = Double.parseDouble(elements[3]);
d = Double.parseDouble(elements[3]);
} catch (NumberFormatException ex) {
throw new QuaternionParsingException("Could not parse k part" + elements[3]);
}

return of(q1, q2, q3, q4);
return of(a, b, c, d);
}

/**
Expand All @@ -555,10 +555,10 @@ public static Quaternion parse(String s) {
public String toString() {
final StringBuilder s = new StringBuilder();
s.append(FORMAT_START)
.append(q0).append(FORMAT_SEP)
.append(q1).append(FORMAT_SEP)
.append(q2).append(FORMAT_SEP)
.append(q3)
.append(w).append(FORMAT_SEP)
.append(x).append(FORMAT_SEP)
.append(y).append(FORMAT_SEP)
.append(z)
.append(FORMAT_END);

return s.toString();
Expand Down
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