#pragma once

#include "matrix.h"

#ifdef __cplusplus
extern "C" {
#endif

void Quaternion(float q[4]);

void Quaternion_Normalize(float Q[4]);

void Quaternion_Canonicalize(float Q[4]);

void Quaternion_ByDcm(const float dcm[3][3], float Q[4]);

void Quaternion_Enu_ByEuler(float yaw, float pitch, float roll, float Q[4]);

void Quaternion_Ned_ByEuler(float yaw, float pitch, float roll, float Q[4]);

void Quaternion_ByAxisAngle(const float anxisAngle[3], float Q[4]);

void Quaternion_ByTwoVectors(const float Vsrc[3], const float Vdst[3],
                             float Q[4]);

void Quaternion_Multiplication(const float Q1[4], const float Q2[4],
                               float Q[4]);

void Quaternion_Inversed(const float Q[4], float Q_inv[4]);

void Quaternion_Invert(float Q[4]);

void Quaternion_Derivative1(const float q21[4], const float angle_rate1[3],
                            float q21_deriv[4]);

void Quaternion_Derivative2(const float q21[4], const float angle_rate2[3],
                            float q21_deriv[4]);

void Quaternion_RotateByAxisAngle(const float axisAngle[3], float Q[4]);

void Quaternion_Conj(const float Q[4], const float V1[3], float V2[3]);

void Quaternion_ConjInv(const float Q[4], const float V2[3], float V1[3]);

void Quaternion_GetDcmZ(const float Q[4], float dcm_z[3]);


#ifdef __cplusplus
}
#endif