/*
 * quaternion.hpp
 *
 *  Created on: Jun 17, 2024
 *      Author: Dario
 */

#ifndef STA_PEAK_QUATERNION_HPP
#define STA_PEAK_QUATERNION_HPP

#include <sta/math/linalg/matrix.hpp>
namespace sta
{
	namespace math {
		class Quaternion
		{
		public:
			/**
			 * @brief Construct a new Quaternion object
			 * 
			 * @param w 
			 * @param x 
			 * @param y 
			 * @param z 
			 */
			Quaternion(float w, float x, float y, float z);

			/**
			 * @brief Construct a new Quaternion object
			 * 
			 */
			Quaternion();

			/**
			 * @brief 
			 * 
			 * @param dt 
			 * @param ox 
			 * @param oy 
			 * @param oz 
			 * @return Quaternion 
			 */
			Quaternion integrate(float dt, float ox, float oy, float oz);

			/**
			 * @brief 
			 * 
			 * @return Quaternion 
			 */
			static Quaternion unit();

			/**
			 * @brief 
			 * 
			 * @return float 
			 */
			float norm();

			/**
			 * @brief 
			 * 
			 * @return Quaternion 
			 */
			Quaternion normalized();

			Quaternion conjugate();			

			matrix toRotationMatrix();
		public:
			float x, y, z, w;
		};
		Quaternion operator+(const Quaternion& q1, const Quaternion& q2);
		Quaternion operator*(const Quaternion& q1, const Quaternion& q2);
		Quaternion operator*(const Quaternion& quat, float scalar);
		Quaternion operator*(float scalar, const Quaternion& quat);
		Quaternion operator*(const Quaternion& quat, double scalar);
		Quaternion operator*(double scalar, const Quaternion& quat);
		Quaternion operator-(const Quaternion& q1, const Quaternion& q2);
	}  // namespace math
}  // namespace sta

#endif /* STA_PEAK_QUATERNION_HPP */