quaternion.hpp

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#ifndef PACSIMQUATERNION_HPP
#define PACSIMQUATERNION_HPP
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <cmath>
 
struct quaternion
{
    double w = 1.0;
    double x = 0.0;
    double y = 0.0;
    double z = 0.0;
};
 
double quatNorm(quaternion a);
 
quaternion quatMult(quaternion a, quaternion b);
 
quaternion quatInversion(quaternion a);
 
quaternion quatNormalize(quaternion a);
 
quaternion getRelativeQuat(quaternion a, quaternion b);
 
quaternion quatFromEulerAngles(Eigen::Vector3d a);
 
quaternion quatFromRotationMatrix(Eigen::Matrix3d mat);
 
Eigen::Matrix3d rotationMatrixFromQuaternion(quaternion a);
 
Eigen::Vector3d eulerAnglesFromQuat(quaternion a);
 
#endif /* PACSIMQUATERNION_HPP */