export declare type Vec3 = [number, number, number];
export declare type Vec4 = [number, number, number, number];
export default class Quaternion {
    raw: Vec4;
    constructor(x?: number, y?: number, z?: number, w?: number);
    /**
     * Static version of quaternion multiplication
     *
     * @param {Quaternion} a
     * @param {Quaternion} b
     * @returns {Quaternion} a * b
     */
    static mult(a: Quaternion, b: Quaternion): Quaternion;
    /**
     *
     * Quaternion in-place multiplication
     * Input multiplies on the right
     *
     * @param {Quaternion} a
     */
    mult(a: Quaternion): void;
    /**
     *
     * Static convenience function for Quaternion
     * rotation of a vector
     *
     * @param {Quaternion} q
     * @param {Array length=3} v
     * @returns {Array length=3} rotated vector
     */
    static rotate(q: Quaternion, v: Vec3): Vec3;
    /**
     * Quaternion rotation of input vector
     *
     * @param {Array length=3} v
     * @returns {Array length=3} rotated vector
     */
    rotate(v: Vec3): Vec3;
    /**
     *
     * @returns {Quaternion} unit quaternion
     */
    static identity(): Quaternion;
    /**
     *
     * Quaternion representing rotation about x axis
     * by theta radians
     *
     * @param {Number} theta Angle to rotate, in radians
     * @returns {Quaternion}
     */
    static rotx(theta: number): Quaternion;
    /**
     *
     * Quaternion representing rotation about y axis
     * by theta radians
     *
     * @param {Number} theta Angle to rotate, in radians
     * @returns {Quaternion}
     */
    static roty(theta: number): Quaternion;
    /**
     *
     * Quaternion representing rotation about z axis
     * by theta radians
     *
     * @param {Number} theta Angle to rotate, in radians
     * @returns {Quaternion}
     */
    static rotz(theta: number): Quaternion;
    /**
     *
     * @returns {Quaternion} Conjugate of quaternion
     */
    conjugate(): Quaternion;
    /**
     *
     * @returns {Quaternion} Conjugate of quaternion
     */
    conj(): Quaternion;
    /**
     *
     * @returns {Number} Angle of rotation of quaternion, radians
     */
    angle(): number;
    /**
     *
     * @returns {Number} Angle of rotation of quaternion, degerees
     */
    angle_deg(): number;
    /**
     *
     * @returns {Number} Norm of quaternion
     */
    norm(): number;
    /**
     *
     * @returns {Number} Norm of vector elements of quaternion
     */
    vnorm(): number;
    /**
     * Normalize the quaternion in place
     */
    normalized(): void;
    /**
     *
     * @returns {Array length=3} Axis of rotation of quaternion
     */
    axis(): Vec3;
    /**
     *
     * @returns {String} string representation of quaternion
     */
    toString(): string;
}
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