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<?php # Generated by the protocol buffer compiler. DO NOT EDIT! # source: google/type/quaternion.proto namespace Google\Type; use Google\Protobuf\Internal\GPBType; use Google\Protobuf\Internal\RepeatedField; use Google\Protobuf\Internal\GPBUtil; /** * A quaternion is defined as the quotient of two directed lines in a * three-dimensional space or equivalently as the quotient of two Euclidean * vectors (https://en.wikipedia.org/wiki/Quaternion). * Quaternions are often used in calculations involving three-dimensional * rotations (https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation), * as they provide greater mathematical robustness by avoiding the gimbal lock * problems that can be encountered when using Euler angles * (https://en.wikipedia.org/wiki/Gimbal_lock). * Quaternions are generally represented in this form: * w + xi + yj + zk * where x, y, z, and w are real numbers, and i, j, and k are three imaginary * numbers. * Our naming choice `(x, y, z, w)` comes from the desire to avoid confusion for * those interested in the geometric properties of the quaternion in the 3D * Cartesian space. Other texts often use alternative names or subscripts, such * as `(a, b, c, d)`, `(1, i, j, k)`, or `(0, 1, 2, 3)`, which are perhaps * better suited for mathematical interpretations. * To avoid any confusion, as well as to maintain compatibility with a large * number of software libraries, the quaternions represented using the protocol * buffer below *must* follow the Hamilton convention, which defines `ij = k` * (i.e. a right-handed algebra), and therefore: * i^2 = j^2 = k^2 = ijk = −1 * ij = −ji = k * jk = −kj = i * ki = −ik = j * Please DO NOT use this to represent quaternions that follow the JPL * convention, or any of the other quaternion flavors out there. * Definitions: * - Quaternion norm (or magnitude): `sqrt(x^2 + y^2 + z^2 + w^2)`. * - Unit (or normalized) quaternion: a quaternion whose norm is 1. * - Pure quaternion: a quaternion whose scalar component (`w`) is 0. * - Rotation quaternion: a unit quaternion used to represent rotation. * - Orientation quaternion: a unit quaternion used to represent orientation. * A quaternion can be normalized by dividing it by its norm. The resulting * quaternion maintains the same direction, but has a norm of 1, i.e. it moves * on the unit sphere. This is generally necessary for rotation and orientation * quaternions, to avoid rounding errors: * https://en.wikipedia.org/wiki/Rotation_formalisms_in_three_dimensions * Note that `(x, y, z, w)` and `(-x, -y, -z, -w)` represent the same rotation, * but normalization would be even more useful, e.g. for comparison purposes, if * it would produce a unique representation. It is thus recommended that `w` be * kept positive, which can be achieved by changing all the signs when `w` is * negative. * * Generated from protobuf message <code>google.type.Quaternion</code> */ class Quaternion extends \Google\Protobuf\Internal\Message { /** * The x component. * * Generated from protobuf field <code>double x = 1;</code> */ protected $x = 0.0; /** * The y component. * * Generated from protobuf field <code>double y = 2;</code> */ protected $y = 0.0; /** * The z component. * * Generated from protobuf field <code>double z = 3;</code> */ protected $z = 0.0; /** * The scalar component. * * Generated from protobuf field <code>double w = 4;</code> */ protected $w = 0.0; /** * Constructor. * * @param array $data { * Optional. Data for populating the Message object. * * @type float $x * The x component. * @type float $y * The y component. * @type float $z * The z component. * @type float $w * The scalar component. * } */ public function __construct($data = NULL) { \GPBMetadata\Google\Type\Quaternion::initOnce(); parent::__construct($data); } /** * The x component. * * Generated from protobuf field <code>double x = 1;</code> * @return float */ public function getX() { return $this->x; } /** * The x component. * * Generated from protobuf field <code>double x = 1;</code> * @param float $var * @return $this */ public function setX($var) { GPBUtil::checkDouble($var); $this->x = $var; return $this; } /** * The y component. * * Generated from protobuf field <code>double y = 2;</code> * @return float */ public function getY() { return $this->y; } /** * The y component. * * Generated from protobuf field <code>double y = 2;</code> * @param float $var * @return $this */ public function setY($var) { GPBUtil::checkDouble($var); $this->y = $var; return $this; } /** * The z component. * * Generated from protobuf field <code>double z = 3;</code> * @return float */ public function getZ() { return $this->z; } /** * The z component. * * Generated from protobuf field <code>double z = 3;</code> * @param float $var * @return $this */ public function setZ($var) { GPBUtil::checkDouble($var); $this->z = $var; return $this; } /** * The scalar component. * * Generated from protobuf field <code>double w = 4;</code> * @return float */ public function getW() { return $this->w; } /** * The scalar component. * * Generated from protobuf field <code>double w = 4;</code> * @param float $var * @return $this */ public function setW($var) { GPBUtil::checkDouble($var); $this->w = $var; return $this; } }
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