Package org.apache.commons.math3.complex

Examples of org.apache.commons.math3.complex.Quaternion

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        final double w = -2.;
        final double x = 5.;
        final double y = -6.;
        final double z = 2.;
        // inputs
        final Quaternion q1 = new Quaternion(1., 2., -2., -1.);
        final Quaternion q2 = new Quaternion(3., -3., 4., -3.);

        final Quaternion qa = Quaternion.subtract(q1, q2);
        final Quaternion qb = q1.subtract(q2);

        Assert.assertEquals(w, qa.getQ0(), EPS);
        Assert.assertEquals(x, qa.getQ1(), EPS);
        Assert.assertEquals(y, qa.getQ2(), EPS);
        Assert.assertEquals(z, qa.getQ3(), EPS);

        Assert.assertEquals(w, qb.getQ0(), EPS);
        Assert.assertEquals(x, qb.getQ1(), EPS);
        Assert.assertEquals(y, qb.getQ2(), EPS);
        Assert.assertEquals(z, qb.getQ3(), EPS);
}
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        final double q0 = 2;
        final double q1 = 1;
        final double q2 = -4;
        final double q3 = 3;
        final Quaternion q = new Quaternion(q0, q1, q2, q3);

        final double norm = q.getNorm();

        Assert.assertEquals(FastMath.sqrt(30), norm, 0);

        final double normSquareRef = Quaternion.multiply(q, q.getConjugate()).getScalarPart();
        Assert.assertEquals(FastMath.sqrt(normSquareRef), norm, 0);
    }
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    }

    @Test
    public final void testNormalize() {

        final Quaternion q = new Quaternion(2, 1, -4, -2);

        final Quaternion versor = q.normalize();

        Assert.assertEquals(2.0 / 5.0, versor.getQ0(), 0);
        Assert.assertEquals(1.0 / 5.0, versor.getQ1(), 0);
        Assert.assertEquals(-4.0 / 5.0, versor.getQ2(), 0);
        Assert.assertEquals(-2.0 / 5.0, versor.getQ3(), 0);

        Assert.assertEquals(1, versor.getNorm(), 0);
    }
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        Assert.assertEquals(1, versor.getNorm(), 0);
    }

    @Test(expected=ZeroException.class)
    public final void testNormalizeFail() {
        final Quaternion zeroQ = new Quaternion(0, 0, 0, 0);
        zeroQ.normalize();
    }
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    public final void testAccessors1() {
        final double q0 = 2;
        final double q1 = 5.4;
        final double q2 = 17;
        final double q3 = 0.0005;
        final Quaternion q = new Quaternion(q0, q1, q2, q3);

        Assert.assertEquals(q0, q.getQ0(), 0);
        Assert.assertEquals(q1, q.getQ1(), 0);
        Assert.assertEquals(q2, q.getQ2(), 0);
        Assert.assertEquals(q3, q.getQ3(), 0);
    }
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    public final void testAccessors2() {
        final double q0 = 2;
        final double q1 = 5.4;
        final double q2 = 17;
        final double q3 = 0.0005;
        final Quaternion q = new Quaternion(q0, q1, q2, q3);

        final double sP = q.getScalarPart();
        final double[] vP = q.getVectorPart();

        Assert.assertEquals(q0, sP, 0);
        Assert.assertEquals(q1, vP[0], 0);
        Assert.assertEquals(q2, vP[1], 0);
        Assert.assertEquals(q3, vP[2], 0);
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    public final void testAccessors3() {
        final double q0 = 2;
        final double q1 = 5.4;
        final double q2 = 17;
        final double q3 = 0.0005;
        final Quaternion q = new Quaternion(q0, new double[] { q1, q2, q3 });

        final double sP = q.getScalarPart();
        final double[] vP = q.getVectorPart();

        Assert.assertEquals(q0, sP, 0);
        Assert.assertEquals(q1, vP[0], 0);
        Assert.assertEquals(q2, vP[1], 0);
        Assert.assertEquals(q3, vP[2], 0);
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        Assert.assertEquals(q3, vP[2], 0);
    }

    @Test(expected=DimensionMismatchException.class)
    public void testWrongDimension() {
        new Quaternion(new double[] { 1, 2 });
    }
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    public final void testConjugate() {
        final double q0 = 2;
        final double q1 = 5.4;
        final double q2 = 17;
        final double q3 = 0.0005;
        final Quaternion q = new Quaternion(q0, q1, q2, q3);

        final Quaternion qConjugate = q.getConjugate();

        Assert.assertEquals(q0, qConjugate.getQ0(), 0);
        Assert.assertEquals(-q1, qConjugate.getQ1(), 0);
        Assert.assertEquals(-q2, qConjugate.getQ2(), 0);
        Assert.assertEquals(-q3, qConjugate.getQ3(), 0);
    }
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    @Test
    public final void testProductQuaternionQuaternion() {

        // Case : analytic test case

        final Quaternion qA = new Quaternion(1, 0.5, -3, 4);
        final Quaternion qB = new Quaternion(6, 2, 1, -9);
        final Quaternion qResult = Quaternion.multiply(qA, qB);

        Assert.assertEquals(44, qResult.getQ0(), EPS);
        Assert.assertEquals(28, qResult.getQ1(), EPS);
        Assert.assertEquals(-4.5, qResult.getQ2(), EPS);
        Assert.assertEquals(21.5, qResult.getQ3(), EPS);

        // comparison with the result given by the formula :
        // qResult = (scalarA * scalarB - vectorA . vectorB) + (scalarA * vectorB + scalarB * vectorA + vectorA ^
        // vectorB)

        final Vector3D vectorA = new Vector3D(qA.getVectorPart());
        final Vector3D vectorB = new Vector3D(qB.getVectorPart());
        final Vector3D vectorResult = new Vector3D(qResult.getVectorPart());

        final double scalarPartRef = qA.getScalarPart() * qB.getScalarPart() - Vector3D.dotProduct(vectorA, vectorB);

        Assert.assertEquals(scalarPartRef, qResult.getScalarPart(), EPS);

        final Vector3D vectorPartRef = ((vectorA.scalarMultiply(qB.getScalarPart())).add(vectorB.scalarMultiply(qA
                .getScalarPart()))).add(Vector3D.crossProduct(vectorA, vectorB));
        final double norm = (vectorResult.subtract(vectorPartRef)).getNorm();

        Assert.assertEquals(0, norm, EPS);

        // Conjugate of the product of two quaternions and product of their conjugates :
        // Conj(qA * qB) = Conj(qB) * Conj(qA)

        final Quaternion conjugateOfProduct = qB.getConjugate().multiply(qA.getConjugate());
        final Quaternion productOfConjugate = (qA.multiply(qB)).getConjugate();

        Assert.assertEquals(conjugateOfProduct.getQ0(), productOfConjugate.getQ0(), EPS);
        Assert.assertEquals(conjugateOfProduct.getQ1(), productOfConjugate.getQ1(), EPS);
        Assert.assertEquals(conjugateOfProduct.getQ2(), productOfConjugate.getQ2(), EPS);
        Assert.assertEquals(conjugateOfProduct.getQ3(), productOfConjugate.getQ3(), EPS);
    }
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Related Classes of org.apache.commons.math3.complex.Quaternion

  • org.apache.commons.math3.analysis.differentiation.DerivativeStructure
  • org.apache.commons.math3.analysis.differentiation.MultivariateDifferentiableVectorFunction
  • org.apache.commons.math3.analysis.function.HarmonicOscillator
  • org.apache.commons.math3.analysis.function.Sin
  • org.apache.commons.math3.analysis.function.Sinc
  • org.apache.commons.math3.analysis.MultivariateFunction
  • org.apache.commons.math3.analysis.QuinticFunction
  • org.apache.commons.math3.analysis.solvers.BrentSolver
  • org.apache.commons.math3.analysis.UnivariateFunction
  • org.apache.commons.math3.complex.Complex
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