/*
 * 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:
			Quaternion(float w, float x, float y, float z);

			Quaternion();

			Quaternion integrate(float dt, float ox, float oy, float oz);

			static Quaternion unit();

			float norm();

			matrix toRotationMatrix();

			Quaternion normalized();

			Quaternion operator*(const Quaternion& quat);
			Quaternion operator+(const Quaternion& quat);
			
		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);
	}  // namespace math
}  // namespace sta

#endif /* STA_PEAK_QUATERNION_HPP */