/
Quaternion.java
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/
Quaternion.java
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/* Copyright (c) 2017, United States Government, as represented by the
* Administrator of the National Aeronautics and Space Administration.
*
* All rights reserved.
*
* The Astrobee platform is licensed under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*/
package gov.nasa.arc.astrobee.types;
import gov.nasa.arc.astrobee.types.Mat33f;
import java.text.DecimalFormat;
public class Quaternion extends Mat33f {
/**
* Define a new quaternion representing no rotation around an undefined axis:
* (0, 0, 0, 1)
*/
public Quaternion() {
this(0, 0, 0, 1);
}
/**
* Define a new quaternion with the given parameters
*
* @param x The x component of the quaternion.
* @param y The y component of the quaternion.
* @param z The z component of the quaternion.
* @param w The w component of the quaternion.
*/
public Quaternion(float x, float y, float z, float w) {
super(new float[]{ x, y, z, w, 0, 0, 0, 0, 0 });
}
public float getX() {
return m_vec[0];
}
public float getY() {
return m_vec[1];
}
public float getZ() {
return m_vec[2];
}
public float getW() {
return m_vec[3];
}
private static final DecimalFormat s_decimalFormatter = new DecimalFormat("#.###");
@Override
public String toString() {
return "Mat33f::Quaternion{ " +
"x=" + s_decimalFormatter.format(m_vec[0]) + "; " +
"y=" + s_decimalFormatter.format(m_vec[1]) + "; " +
"z=" + s_decimalFormatter.format(m_vec[2]) + "; " +
"w=" + s_decimalFormatter.format(m_vec[3]) + "}";
}
}