[TASK] EtaQuat struct #16

Description of task

Implement a new EtaQuat struct in include/vortex/utils/types.hpp that holds the 3D NED position and orientation in quaternion. It should have methods to return the position vector, the quaternion, the whole state as vector, necessary rotation and transformation matrices, and overloaded - operator. A method to convert between EtaQuat and Eta would also be nice.

Suggested Workflow

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Specifications

The EtaQuat struct should have methods to return the position vector, the quaternion, the whole state as vector, necessary rotation and transformation matrices, and overloaded - operator. A method to convert between EtaQuat and Eta would also be nice.

Contacts

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Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)