Crate quaternion_wrapper

This is a wrapper for the quaternion-core crate.

Provides quaternion operations and interconversion with several attitude representations. Operator overloading allows implementation similar to mathematical expressions.

The supported operations are listed in the table below:

↓Left / Right→	QuaternionWrapper	Vector3Wrapper	ScalarWrapper
QuaternionWrapper	+, -, *, +=, -=, *=	+, -, *	+, -, *, /
Vector3Wrapper	+, -, *	+, -, *, +=, -=	+, -, *, /
ScalarWrapper	+, -, *	+, -, *	+, -, *, /, +=, -=, *=, /=

Versor

Versor refers to a Quaternion representing a rotation, the norm of which is 1.

The documentation for this crate basically writes Versor instead of Unit Quaternion, but the difference in usage is not clear. Please think Versor = Unit Quaternion.

Structs

• QuaternionWrapper
• ScalarWrapper
  Treated as Real Quaternion.
• Vector3Wrapper
  Treated as Pure Quaternion.

Enums

• RotationSequence
  Specifies the rotation sequence of Euler angles.
• RotationType
  Specifies the rotation type of Euler angles.

Type Aliases

• DCM
  Direction Cosine Matrix
• Quaternion
  Quaternion
• Vector3
  Three dimensional vector (Pure Quaternion)