Spatial FOG Reference Manual
Page 114 of 144
Version 2.3
03/05/2018
13.9.21
Quaternion Orientation Packet
Quaternion Orientation Packet
Packet ID
40
Length
16
Field
#
Bytes
Ofset
Data
Type
Size
Description
1
0
fp32
4
QS
2
4
fp32
4
QX
3
8
fp32
4
QY
4
12
fp32
4
QZ
Table 62: Quaternion orientation packet
13.9.22
DCM Orientation Packet
DCM Orientation Packet
Packet ID
41
Length
36
Field
#
Bytes
Ofset
Data
Type
Size
Description
1
0
fp32
4
DCM[0][0]
2
4
fp32
4
DCM[0][1]
3
8
fp32
4
DCM[0][2]
4
12
fp32
4
DCM[1][0]
5
16
fp32
4
DCM[1][1]
6
20
fp32
4
DCM[1][2]
7
24
fp32
4
DCM[2][0]
8
28
fp32
4
DCM[2][1]
9
32
fp32
4
DCM[2][2]
Table 63: DCM orientation packet
13.9.23
Angular Velocity Packet
Angular Velocity Packet
Packet ID
42
Length
12
Field
#
Bytes
Ofset
Data
Type
Size
Description
1
0
fp32
4
Angular velocity X (rad/s)
Содержание Spatial FOG Dual
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