#dart #math Rotating by -90 degrees using quaternions

main.dart

import "dart:math";
import "package:vector_math/vector_math.dart";

class Orientation {
  // radians
  final double yaw;
  final double pitch;
  final double roll;
  Orientation({required this.yaw, required this.pitch, required this.roll});
}

void main() {
  final orientation = Orientation(yaw: pi/2, pitch: 0, roll: 0);
  final orientationQ = Quaternion.euler(orientation.yaw,
                                       orientation.pitch,
                                       orientation.roll);
  
  print(orientationQ);
  
  final quaternionCorrection = Quaternion.euler(-pi/2, 0, 0);
  print(quaternionCorrection);
  
  final output = orientationQ * quaternionCorrection;
  print(output);
  
  // TODO Convert back to Euler angles:
  // to show roll, pitch, yaw
}