Expand description
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§
- Quaternion
Wrapper - Scalar
Wrapper - Treated as Real Quaternion.
- Vector3
Wrapper - Treated as Pure Quaternion.
Enums§
- Rotation
Sequence - Specifies the rotation sequence of Euler angles.
- Rotation
Type - Specifies the rotation type of Euler angles.
Type Aliases§
- DCM
- Direction Cosine Matrix
- Quaternion
- Quaternion
- Vector3
- Three dimensional vector (Pure Quaternion)