Today's the day. Renamed platform to framework.

globalfunctions/math/QuaternionOperations.h

@@ -0,0 +1,35 @@
+#ifndef QUATERNIONOPERATIONS_H_
+#define QUATERNIONOPERATIONS_H_
+
+#include <stdint.h>
+
+class QuaternionOperations {
+public:
+	virtual ~QuaternionOperations();
+
+	static void multiply(const double *q1, const double *q2, double *q);
+
+	static void fromDcm(const double dcm[][3],double *quaternion, uint8_t *index = 0);
+	
+	static void toDcm(const double *quaternion, double dcm[][3]);
+
+	static void toDcm(const double *quaternion, float dcm[][3]);
+
+	static float norm(const double *quaternion);
+
+	static void normalize(double *quaternion);
+
+	static void normalize(const double *quaternion, double *unitQuaternion);
+
+	static void inverse(const double *quaternion, double *inverseQuaternion);
+
+	/**
+	 * returns angle in ]-Pi;Pi] or [0;Pi] if abs == true
+	 */
+	static double getAngle(const double *quaternion, bool abs = false);
+
+private:
+	QuaternionOperations();
+};
+
+#endif /* QUATERNIONOPERATIONS_H_ */