Crate quaternion_wrapper

Source
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→QuaternionWrapperVector3WrapperScalarWrapper
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)