fsb_quaternion.h

 
#ifndef FSB_QUATERNION_H
#define FSB_QUATERNION_H
 
#include "fsb_types.h"
 
namespace fsb
{
 
struct Quaternion
{
    Real qw = 1.0;
    Real qx = 0.0;
    Real qy = 0.0;
    Real qz = 0.0;
};
 
Quaternion quat_multiply(const Quaternion& q_a, const Quaternion& q_b);
 
Vec3 quat_rotate_vector(const Quaternion& q_in, const Vec3& p_in);
 
Quaternion quat_conjugate(const Quaternion& q_in);
 
Real quat_norm(const Quaternion& q_in);
 
void quat_normalize(Quaternion& q_inout);
 
Vec3 quat_log(const Quaternion& q_in);
 
Quaternion quat_exp(const Vec3& v_in);
 
Quaternion quat_boxplus(const Quaternion& quat, const Vec3& phi_delta);
 
Vec3 quat_boxminus(const Quaternion& q_a, const Quaternion& q_b);
 
Quaternion quat_circplus(const Quaternion& quat, const Vec3& phi_delta);
 
Vec3 quat_circminus(const Quaternion& q_a, const Quaternion& q_b);
 
Quaternion quat_identity();
 
Quaternion quat_rx(Real rx);
 
Quaternion quat_ry(Real ry);
 
Quaternion quat_rz(Real rz);
 
} // namespace fsb
 
#endif