org.firstinspires.ftc.robotcore.external.navigation

Class Quaternion

java.lang.Object

org.firstinspires.ftc.robotcore.external.navigation.Quaternion

public class Quaternion
extends java.lang.Object

A Quaternion can indicate an orientation in three-space without the trouble of possible gimbal-lock.

See Also:

https://en.wikipedia.org/wiki/Quaternion, https://en.wikipedia.org/wiki/Gimbal_lock, https://www.youtube.com/watch?v=zc8b2Jo7mno, https://www.youtube.com/watch?v=mHVwd8gYLnI

Field Summary

Fields

Modifier and Type	Field and Description
long	acquisitionTime the time on the System.nanoTime() clock at which the data was acquired.
float	w
float	x
float	y
float	z

Constructor Summary

Constructors

Constructor and Description
Quaternion()
Quaternion(float w, float x, float y, float z, long acquisitionTime)

Method Summary

Modifier and Type	Method and Description
Quaternion	congugate()
float	magnitude()
Quaternion	normalized()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

w

public float w

x

public float x

y

public float y

z

public float z

acquisitionTime

public long acquisitionTime

the time on the System.nanoTime() clock at which the data was acquired. If no timestamp is associated with this particular set of data, this value is zero.

Constructor Detail

Quaternion

public Quaternion()

Quaternion

public Quaternion(float w,
                  float x,
                  float y,
                  float z,
                  long acquisitionTime)

Method Detail

magnitude

public float magnitude()

normalized

public Quaternion normalized()

congugate

public Quaternion congugate()