Native quaternion implementation #166
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arahlin
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This PR removes the dependency on boost::math::quaternion in favor of a minimal native implementation, which includes simple arithmetic and comparison operators, and conj, abs, norm and pow function implementations. The class also provides versor() and is_versor() methods for creating and testing for unit quaternions, used in many pointing operations in the maps package. The G3Quat object is a true serializeable G3FrameObject with a numpy buffer interface. The derived G3VectorQuat and G3MapQuat classes maintain backward compatibility for deserializing data stored on disk.
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This PR removes the dependency on boost::math::quaternion in favor of a minimal native implementation, which includes simple arithmetic and comparison operators, and conj, abs, norm and pow function implementations.
The class also provides versor() and is_versor() methods for creating and testing for unit quaternions, used in many pointing operations in the maps package.
The G3Quat object is a true serializeable G3FrameObject with a numpy buffer interface. The derived G3VectorQuat and G3MapQuat classes maintain backward compatibility for deserializing data stored on disk.
Closes #143.