Refactored file layout because platformio failed to find things

src/Quaternion.h

@@ -0,0 +1,81 @@
+#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 w, float v1, float v2, float v3) : Matrix<1, 4>(w, v1, v2, v3) {}
+    Quaternion(const Quaternion &q) : Matrix<1, 4>(q.w, q.v1, q.v2, q.v3) {}
+    Quaternion(const Matrix<1, 4> &matrix) : Matrix<1, 4>(matrix) {}
+    Quaternion(const std::array<float, 4> &array) : Matrix<1, 4>(array) {}
+
+    /**
+     * @brief Create a quaternion from an angle and axis
+     * @param angle The angle to rotate by
+     * @param axis The axis to rotate around
+     */
+    static Quaternion FromAngleAndAxis(float angle, const Matrix<1, 3> &axis);
+
+    /**
+     * @brief Access the elements of the quaternion
+     * @param index The index of the element to access
+     * @return The value of the element at the index
+     */
+    float operator[](uint8_t index) const;
+
+    /**
+     * @brief Assign one quaternion to another
+     */
+    void operator=(const Quaternion &other) const;
+
+    /**
+     * @brief Do quaternion multiplication
+     */
+    Quaternion operator*(const Quaternion &other) const;
+
+    /**
+     * @brief Multiply the quaternion by a scalar
+     */
+    Quaternion operator*(float scalar) const;
+
+    /**
+     * @brief Add two quaternions together
+     * @param other The quaternion to add to this one
+     * @return The net quaternion
+     */
+    Quaternion operator+(const Quaternion &other) const;
+
+    /**
+     * @brief Q_Mult a quaternion by another quaternion
+     * @param other The quaternion to rotate by
+     * @param buffer The buffer to store the result in
+     * @return A reference to the buffer
+     */
+    Quaternion &Q_Mult(const Quaternion &other, Quaternion &buffer) const;
+
+    /**
+     * @brief Rotate a quaternion by this quaternion
+     * @param other The quaternion to rotate
+     * @param buffer The buffer to store the result in
+     *
+     */
+    Quaternion &Rotate(Quaternion &other, Quaternion &buffer) const;
+
+    /**
+     * @brief Normalize the quaternion to a magnitude of 1
+     */
+    void Normalize();
+
+    Matrix<3, 3> ToRotationMatrix() const;
+
+    // Give people an easy way to access the elements
+    float &w{matrix[0]};
+    float &v1{matrix[1]};
+    float &v2{matrix[2]};
+    float &v3{matrix[3]};
+};
+
+#endif // QUATERNION_H_