namespace RobotNet10.Shared.Geometry;

/// <summary>
/// Quaternion message (geometry_msgs/Quaternion)
/// Represents a rotation in free space in quaternion form
/// </summary>
public struct Quaternion
{
    /// <summary>
    /// X component
    /// </summary>
    public double X { get; set; }

    /// <summary>
    /// Y component
    /// </summary>
    public double Y { get; set; }

    /// <summary>
    /// Z component
    /// </summary>
    public double Z { get; set; }

    /// <summary>
    /// W component (scalar part)
    /// </summary>
    public double W { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public Quaternion()
    {
        X = 0.0;
        Y = 0.0;
        Z = 0.0;
        W = 1.0; // Identity quaternion
    }

    /// <summary>
    /// Constructor with parameters
    /// </summary>
    public Quaternion(double x, double y, double z, double w)
    {
        X = x;
        Y = y;
        Z = z;
        W = w;
    }
}