main/src/georegression/struct/se/Se3_F64.java
public void set(double x , double y , double z , RotationType type , double A , double B , double C, double D ) {
		T.set(x,y,z);
		switch( type ) {
			case RODRIGUES:
				ConvertRotation3D_F64.rodriguesToMatrix(A,B,C,D,R);
				break;

			case QUATERNION:
				ConvertRotation3D_F64.quaternionToMatrix(A,B,C,D,R);
				break;

			default:
				throw new IllegalArgumentException("Type is not supported. "+type);
		}
	}
public void set(double x , double y , double z , RotationType type , double A , double B , double C, double D ) {
		T.set(x,y,z);
		switch( type ) {
			case RODRIGUES:
				ConvertRotation3D_F64.rodriguesToMatrix(A,B,C,D,R);
				break;

			case QUATERNION:
				ConvertRotation3D_F64.quaternionToMatrix(A,B,C,D,R);
				break;

			default:
				throw new IllegalArgumentException("Type is not supported. "+type);
		}
	}
Fully specifies the transform using Rodrigues (axis angle) or Quaternions.  If Rodrigues then A=axisX, B=axisY,
C=axisZ, D=theta. If Quaternion then A=w, B=x, C=y, D=z.