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qtransform.md

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QuaternionTransform Message

  • Protocol Version: 3.0
  • Release Date: January 20, 2017

Summary

The QTRANS data type is used to transfer position and orientation information. The data are a combination of three-dimensional vector for the position and quaternion for the orientation. Although equivalent position and orientation can be described with the TRANSFORM data type, the QTRANS data type has the advantage of smaller data size (19%). It is, therefore, more suitable for pushing high frame-rate data from tracking devices.

Message Types

QTRANS

Data Type Description
X float32 X position in millimeter
Y float32 Y position in millimeter
Z float32 Z position in millimeter
OX float32 X element in quaternion
OY float32 Y element in quaternion
OZ float32 Z element in quaternion
W float32 W element in quaternion

GET_QTRANS

Data Type Description 
          |               |

STT_QTRANS

Data Type Description 
          |               |

STP_QTRANS

Data Type Description 
          |               |

RTS_QTRANS

Data Type Description
STATUS uint8 0: Success; 1: Error

Implementations

Contributors

Junichi Tokuda