How to use

getW

method

in

javax.vecmath.Tuple4d

  public static String tuple4dToString(Tuple4d tuple, NumberFormat format)
  {
   String xToString = format.format(tuple.getX());
   String yToString = format.format(tuple.getY());
   String zToString = format.format(tuple.getZ());
   String sToString = format.format(tuple.getW());
   return "(" + xToString + ", " + yToString + ", " + zToString + ", " + sToString + ")";
  }
}

/**
* Checks the validity of a {@link Tuple4d}
* @param tuple4dToCheck
* @return null if the tuple4d is valid, or the error message.
*/
public static ObjectErrorType validateTuple4d(Tuple4d tuple4dToCheck)
{
 if (tuple4dToCheck == null)
   return ObjectErrorType.NULL;
 if (isNaN(tuple4dToCheck.getX()) || isNaN(tuple4dToCheck.getY()) || isNaN(tuple4dToCheck.getZ()) || isNaN(tuple4dToCheck.getW()))
   return ObjectErrorType.CONTAINS_NaN;
 if (isInfinite(tuple4dToCheck.getX()) || isInfinite(tuple4dToCheck.getY()) || isInfinite(tuple4dToCheck.getZ()) || isInfinite(tuple4dToCheck.getW()))
   return ObjectErrorType.CONTAINS_INFINITY;
 return null;
}

public void update(Tuple4d value)
{
 update(value.getW());
 update(value.getX());
 update(value.getY());
 update(value.getZ());
}

public static Vector4d generateRandomVector4d(Random random, Tuple4d lowerBound, Tuple4d upperBound)
{
 Vector4d ret = new Vector4d();
 ret.setX(generateRandomDouble(random, lowerBound.getX(), upperBound.getX()));
 ret.setY(generateRandomDouble(random, lowerBound.getY(), upperBound.getY()));
 ret.setZ(generateRandomDouble(random, lowerBound.getZ(), upperBound.getZ()));
 ret.setW(generateRandomDouble(random, lowerBound.getW(), upperBound.getW()));
 return ret;
}

public static Quaternion convertTuple4d(Tuple4d tuple)
{
 Quaternion quaternion = messageFactory.newFromType("geometry_msgs/Quaternion");
 if(tuple == null)
 {
   quaternion.setX(Double.NaN);
   quaternion.setY(Double.NaN);
   quaternion.setZ(Double.NaN);
   quaternion.setW(Double.NaN);
 }
 else
 {
   quaternion.setX(tuple.getX());
   quaternion.setY(tuple.getY());
   quaternion.setZ(tuple.getZ());
   quaternion.setW(tuple.getW());
 }
 return quaternion;
}