Added slerp and updated quaternion class

include/sta/math/algorithms/attitude/integrate.hpp

@@ -28,6 +28,7 @@ namespace sta
 	        Quaternion getAttitude();
 	    private:
 	        Quaternion state_;
+	        float ox_, oy_, oz_;
 	        float alpha_;
 	        float time_;
 	    };

include/sta/math/algorithms/attitude/slerp.hpp

@@ -0,0 +1,23 @@
+/*
+ * slerp.hpp
+ *
+ *  Created on: Jun 19, 2024
+ *      Author: Dario
+ */
+
+#ifndef STA_MATHS_ATTITUDE_SLERP_HPP
+#define STA_MATHS_ATTITUDE_SLERP_HPP
+
+#include <sta/math/quaternion.hpp>
+
+namespace sta
+{
+	namespace math
+	{
+
+		Quaternion slerp(Quaternion q1, Quaternion q2, float beta);
+
+	}  // namespace math
+}  // namespace sta
+
+#endif /* STA_MATHS_ATTITUDE_SLERP_HPP*/

include/sta/math/quaternion.hpp

@@ -18,6 +18,8 @@ namespace sta
 
 			Quaternion();
 
+			Quaternion integrate(float dt, float ox, float oy, float oz);
+
 			static Quaternion unit();
 
 			float norm();

include/sta/math/utils.hpp

@@ -1,12 +1,16 @@
 #ifndef INC_UTILS_HPP_
 #define INC_UTILS_HPP_
 
+#include <math.h>
+
 namespace sta
 {
     namespace math
     {
         float fast_inv_sqrt(float);
+
+        float clip(float value, float min, float max);
     } // namespace math
 } // namespace sta
 
-#endif /* INC_UTILS_HPP_ */
+#endif /* INC_UTILS_HPP_ */