[NUMBERS-80] Quaternion Updates for commons-geometry - ASF JIRA

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Details

Type: Task
Status: Closed
Priority: Blocker
Resolution: Not A Bug
Affects Version/s: None
Fix Version/s: None
Component/s: None
Labels:
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Description

The Quaternion class should be updated in order to allow the QuaternionRotation class from commons-geometry to extend it. The following updates are required:

Remove final class modifier.
Make constructor protected.

In addition, it would be good to switch the names of the components from q0, q1, q2, q3 to w, x, y, z. The former assumes that the convention that the scalar component is always listed first, which is not the case in some domains. The latter convention is not ambiguous.