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A quaternion, represented by four 64-bit floating point values.

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. The 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 google.type.Quaternion

CloneableInstantiable
Methods
public __construct( $data = NULL)
 

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 Google\Protobuf\Internal\Message::__debugInfo()
public Google\Protobuf\Internal\Message::byteSize()
 
  • ignore
public Google\Protobuf\Internal\Message::clear()
 

Clear all containing fields.

  • return null
public Google\Protobuf\Internal\Message::discardUnknownFields()
 

Clear all unknown fields previously parsed.

  • return null
public getW()
 

The scalar component.

Generated from protobuf field double w = 4;

  • return float
public getX()
 

The x component.

Generated from protobuf field double x = 1;

  • return float
public getY()
 

The y component.

Generated from protobuf field double y = 2;

  • return float
public getZ()
 

The z component.

Generated from protobuf field double z = 3;

  • return float
public Google\Protobuf\Internal\Message::jsonByteSize( $options = 0)
 
  • ignore
public Google\Protobuf\Internal\Message::mergeFrom( $msg)
 

Merges the contents of the specified message into current message.

This method merges the contents of the specified message into the current message. Singular fields that are set in the specified message overwrite the corresponding fields in the current message. Repeated fields are appended. Map fields key-value pairs are overwritten. Singular/Oneof sub-messages are recursively merged. All overwritten sub-messages are deep-copied.

  • param object $msg Protobuf message to be merged from.
  • return null
public Google\Protobuf\Internal\Message::mergeFromJsonString( $data, $ignore_unknown = false)
 

Parses a json string to protobuf message.

This function takes a string in the json wire format, matching the encoding output by serializeToJsonString(). See mergeFrom() for merging behavior, if the field is already set in the specified message.

  • param string $data Json protobuf data.
  • param bool $ignore_unknown
  • return null
  • throws \Exception Invalid data.
public Google\Protobuf\Internal\Message::mergeFromString( $data)
 

Parses a protocol buffer contained in a string.

This function takes a string in the (non-human-readable) binary wire format, matching the encoding output by serializeToString(). See mergeFrom() for merging behavior, if the field is already set in the specified message.

  • param string $data Binary protobuf data.
  • return null
  • throws \Exception Invalid data.
public Google\Protobuf\Internal\Message::parseFromJsonStream( $input, $ignore_unknown)
 
  • ignore
public Google\Protobuf\Internal\Message::parseFromStream( $input)
 
  • ignore
public Google\Protobuf\Internal\Message::serializeToJsonStream( $output)
 
  • ignore
public Google\Protobuf\Internal\Message::serializeToJsonString( $options = 0)
 

Serialize the message to json string.

  • return string Serialized json protobuf data.
public Google\Protobuf\Internal\Message::serializeToStream( $output)
 
  • ignore
public Google\Protobuf\Internal\Message::serializeToString()
 

Serialize the message to string.

  • return string Serialized binary protobuf data.
public setW( $var)
 

The scalar component.

Generated from protobuf field double w = 4;

  • param float $var
  • return $this
public setX( $var)
 

The x component.

Generated from protobuf field double x = 1;

  • param float $var
  • return $this
public setY( $var)
 

The y component.

Generated from protobuf field double y = 2;

  • param float $var
  • return $this
public setZ( $var)
 

The z component.

Generated from protobuf field double z = 3;

  • param float $var
  • return $this
Properties
protected $w = 0
 

The scalar component.

Generated from protobuf field double w = 4;

protected $x = 0
 

The x component.

Generated from protobuf field double x = 1;

protected $y = 0
 

The y component.

Generated from protobuf field double y = 2;

protected $z = 0
 

The z component.

Generated from protobuf field double z = 3;

Methods
protected Google\Protobuf\Internal\Message::hasOneof( $number)
protected Google\Protobuf\Internal\Message::mergeFromArray(array $array)
 

Populates the message from a user-supplied PHP array. Array keys correspond to Message properties and nested message properties.

Example:

$message->mergeFromArray([
    'name' => 'This is a message name',
    'interval' => [
         'startTime' => time() - 60,
         'endTime' => time(),
    ]
]);

This method will trigger an error if it is passed data that cannot be converted to the correct type. For example, a StringValue field must receive data that is either a string or a StringValue object.

  • param array $array An array containing message properties and values.
  • return null
protected Google\Protobuf\Internal\Message::mergeFromJsonArray( $array, $ignore_unknown)
protected Google\Protobuf\Internal\Message::readOneof( $number)
protected Google\Protobuf\Internal\Message::readWrapperValue( $member)
protected Google\Protobuf\Internal\Message::whichOneof( $oneof_name)
protected Google\Protobuf\Internal\Message::writeOneof( $number, $value)
protected Google\Protobuf\Internal\Message::writeWrapperValue( $member, $value)
© 2026 Bruce Wells
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