using RobotNet10.Shared.Numbers;

namespace RobotNet10.Shared.Geometry;

/// <summary>
/// QuaternionStamped message (geometry_msgs/QuaternionStamped)
/// A Quaternion with reference coordinate frame and timestamp
/// </summary>
public struct QuaternionStamped
{
    /// <summary>
    /// Header with timestamp and frame ID
    /// </summary>
    public Header Header { get; set; }

    /// <summary>
    /// Quaternion
    /// </summary>
    public Quaternion Quaternion { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public QuaternionStamped()
    {
        Header = new Header();
        Quaternion = new Quaternion();
    }

    /// <summary>
    /// Constructor with parameters
    /// </summary>
    public QuaternionStamped(Header header, Quaternion quaternion)
    {
        Header = header;
        Quaternion = quaternion;
    }
}