(0x80,0x0A) Comp Quaternion [CPP]

Collaboration diagram for (0x80,0x0A) Comp Quaternion [CPP]:

Classes
struct	mip::data_sensor::CompQuaternion

Functions
void	mip::data_sensor::insert (Serializer &serializer, const CompQuaternion &self)
void	mip::data_sensor::extract (Serializer &serializer, CompQuaternion &self)

Detailed Description

4x1 vector representation of the quaternion describing the orientation of the device with respect to the NED local-level frame. This quaternion satisfies the following relationship:

EQSTART p^{veh} = q^{-1} p^{ned} q EQEND

Where:
EQSTART q = (q_w, q_x, q_y, q_z) ENDEQ is the quaternion desrcribing the rotation.
EQSTART p^ned = (0, v^{ned}_x, v^{ned}_y, v^{ned}_z) ENDEQ and EQSTART v^{ned} EQEND is a 3-element vector expressed in the NED frame.
EQSTART p^veh = (0, v^{veh}_x, v^{veh}_y, v^{veh}_z) ENDEQ and EQSTART v^{veh} EQEND is a 3-element vector expressed in the vehicle frame.

Function Documentation

extract()

void mip::data_sensor::extract	(	Serializer &	serializer,
		CompQuaternion &	self
	)

insert()

void mip::data_sensor::insert	(	Serializer &	serializer,
		const CompQuaternion &	self
	)