Added quaternion class

src/Quaternion/Quaternion.h

@@ -0,0 +1,31 @@
+#ifndef QUATERNION_H_
+#define QUATERNION_H_
+
+#include "Matrix.hpp"
+
+class Quaternion : public Matrix<1, 4>
+{
+public:
+    Quaternion() : Matrix<1, 4>() {}
+    Quaternion(float fillValue) : Matrix<1, 4>(fillValue) {}
+    Quaternion(float v1, float v2, float v3, float w) : Matrix<1, 4>(v1, v2, v3, w) {}
+    Quaternion(const Quaternion &q) : Matrix<1, 4>(q.v1, q.v2, q.v3, q.w) {}
+    Quaternion(const Matrix<1, 4> &matrix) : Matrix<1, 4>(matrix) {}
+    Quaternion(const std::array<float, 4> &array) : Matrix<1, 4>(array) {}
+
+    float operator[](uint8_t index);
+    Quaternion operator+(const Quaternion &other);
+    Quaternion &Rotate(Quaternion &other, Quaternion &buffer);
+    Matrix<1, 3> &ToEulerAngles(Matrix<1, 3> &angleBuffer);
+    Matrix<3, 3> &ToRotationMatrix(Matrix<3, 3> &rotationMatrixBuffer);
+
+    // Give people an easy way to access the elements
+    float &v1{matrix[0]};
+    float &v2{matrix[1]};
+    float &v3{matrix[2]};
+    float &w{matrix[3]};
+
+private:
+};
+
+#endif // QUATERNION_H_