| // Copyright 2024 Google LLC |
| // |
| // 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. |
| |
| // Code generated by protoc-gen-go. DO NOT EDIT. |
| // versions: |
| // protoc-gen-go v1.26.0 |
| // protoc v4.24.4 |
| // source: google/type/quaternion.proto |
| |
| package quaternion |
| |
| import ( |
| reflect "reflect" |
| sync "sync" |
| |
| protoreflect "google.golang.org/protobuf/reflect/protoreflect" |
| protoimpl "google.golang.org/protobuf/runtime/protoimpl" |
| ) |
| |
| const ( |
| // Verify that this generated code is sufficiently up-to-date. |
| _ = protoimpl.EnforceVersion(20 - protoimpl.MinVersion) |
| // Verify that runtime/protoimpl is sufficiently up-to-date. |
| _ = protoimpl.EnforceVersion(protoimpl.MaxVersion - 20) |
| ) |
| |
| // 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. |
| type Quaternion struct { |
| state protoimpl.MessageState |
| sizeCache protoimpl.SizeCache |
| unknownFields protoimpl.UnknownFields |
| |
| // The x component. |
| X float64 `protobuf:"fixed64,1,opt,name=x,proto3" json:"x,omitempty"` |
| // The y component. |
| Y float64 `protobuf:"fixed64,2,opt,name=y,proto3" json:"y,omitempty"` |
| // The z component. |
| Z float64 `protobuf:"fixed64,3,opt,name=z,proto3" json:"z,omitempty"` |
| // The scalar component. |
| W float64 `protobuf:"fixed64,4,opt,name=w,proto3" json:"w,omitempty"` |
| } |
| |
| func (x *Quaternion) Reset() { |
| *x = Quaternion{} |
| if protoimpl.UnsafeEnabled { |
| mi := &file_google_type_quaternion_proto_msgTypes[0] |
| ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) |
| ms.StoreMessageInfo(mi) |
| } |
| } |
| |
| func (x *Quaternion) String() string { |
| return protoimpl.X.MessageStringOf(x) |
| } |
| |
| func (*Quaternion) ProtoMessage() {} |
| |
| func (x *Quaternion) ProtoReflect() protoreflect.Message { |
| mi := &file_google_type_quaternion_proto_msgTypes[0] |
| if protoimpl.UnsafeEnabled && x != nil { |
| ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x)) |
| if ms.LoadMessageInfo() == nil { |
| ms.StoreMessageInfo(mi) |
| } |
| return ms |
| } |
| return mi.MessageOf(x) |
| } |
| |
| // Deprecated: Use Quaternion.ProtoReflect.Descriptor instead. |
| func (*Quaternion) Descriptor() ([]byte, []int) { |
| return file_google_type_quaternion_proto_rawDescGZIP(), []int{0} |
| } |
| |
| func (x *Quaternion) GetX() float64 { |
| if x != nil { |
| return x.X |
| } |
| return 0 |
| } |
| |
| func (x *Quaternion) GetY() float64 { |
| if x != nil { |
| return x.Y |
| } |
| return 0 |
| } |
| |
| func (x *Quaternion) GetZ() float64 { |
| if x != nil { |
| return x.Z |
| } |
| return 0 |
| } |
| |
| func (x *Quaternion) GetW() float64 { |
| if x != nil { |
| return x.W |
| } |
| return 0 |
| } |
| |
| var File_google_type_quaternion_proto protoreflect.FileDescriptor |
| |
| var file_google_type_quaternion_proto_rawDesc = []byte{ |
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| 0x54, 0x50, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33, |
| } |
| |
| var ( |
| file_google_type_quaternion_proto_rawDescOnce sync.Once |
| file_google_type_quaternion_proto_rawDescData = file_google_type_quaternion_proto_rawDesc |
| ) |
| |
| func file_google_type_quaternion_proto_rawDescGZIP() []byte { |
| file_google_type_quaternion_proto_rawDescOnce.Do(func() { |
| file_google_type_quaternion_proto_rawDescData = protoimpl.X.CompressGZIP(file_google_type_quaternion_proto_rawDescData) |
| }) |
| return file_google_type_quaternion_proto_rawDescData |
| } |
| |
| var file_google_type_quaternion_proto_msgTypes = make([]protoimpl.MessageInfo, 1) |
| var file_google_type_quaternion_proto_goTypes = []interface{}{ |
| (*Quaternion)(nil), // 0: google.type.Quaternion |
| } |
| var file_google_type_quaternion_proto_depIdxs = []int32{ |
| 0, // [0:0] is the sub-list for method output_type |
| 0, // [0:0] is the sub-list for method input_type |
| 0, // [0:0] is the sub-list for extension type_name |
| 0, // [0:0] is the sub-list for extension extendee |
| 0, // [0:0] is the sub-list for field type_name |
| } |
| |
| func init() { file_google_type_quaternion_proto_init() } |
| func file_google_type_quaternion_proto_init() { |
| if File_google_type_quaternion_proto != nil { |
| return |
| } |
| if !protoimpl.UnsafeEnabled { |
| file_google_type_quaternion_proto_msgTypes[0].Exporter = func(v interface{}, i int) interface{} { |
| switch v := v.(*Quaternion); i { |
| case 0: |
| return &v.state |
| case 1: |
| return &v.sizeCache |
| case 2: |
| return &v.unknownFields |
| default: |
| return nil |
| } |
| } |
| } |
| type x struct{} |
| out := protoimpl.TypeBuilder{ |
| File: protoimpl.DescBuilder{ |
| GoPackagePath: reflect.TypeOf(x{}).PkgPath(), |
| RawDescriptor: file_google_type_quaternion_proto_rawDesc, |
| NumEnums: 0, |
| NumMessages: 1, |
| NumExtensions: 0, |
| NumServices: 0, |
| }, |
| GoTypes: file_google_type_quaternion_proto_goTypes, |
| DependencyIndexes: file_google_type_quaternion_proto_depIdxs, |
| MessageInfos: file_google_type_quaternion_proto_msgTypes, |
| }.Build() |
| File_google_type_quaternion_proto = out.File |
| file_google_type_quaternion_proto_rawDesc = nil |
| file_google_type_quaternion_proto_goTypes = nil |
| file_google_type_quaternion_proto_depIdxs = nil |
| } |