public static Quaternion cosh(Quaternion q) {
Double3Vector imag = q.imag();
final double imagNorm = imag.norm();
return new Quaternion(
ExtraMath.cosh(q.re) * Math.cos(imagNorm),
(Double3Vector) imag.normalize().scalarMultiply(ExtraMath.sinh(q.re) * Math.sin(imagNorm)));
}
public static Quaternion exp(Quaternion q) {
final double k = Math.exp(q.re);
Double3Vector imag = q.imag();
final double imagNorm = imag.norm();
return new Quaternion(
k * Math.cos(imagNorm),
(Double3Vector) imag.normalize().scalarMultiply(k * Math.sin(imagNorm)));
}
/**
* Returns the subtraction of this quaternion by an imaginary part.
*
* @param imag an imaginary part
*/
public Quaternion subtractImag(final Double3Vector imag) {
return new Quaternion(
re, imi - imag.getComponent(0), imj - imag.getComponent(1), imk - imag.getComponent(2));
}
/** Constructs a quaternion. */
public Quaternion(final double real, final Double3Vector imag) {
re = real;
imi = imag.getComponent(0);
imj = imag.getComponent(1);
imk = imag.getComponent(2);
}
/**
* Returns the addition of this quaternion with an imaginary part.
*
* @param imag an imaginary part
*/
public Quaternion addImag(final Double3Vector imag) {
return new Quaternion(
re, imi + imag.getComponent(0), imj + imag.getComponent(1), imk + imag.getComponent(2));
}