Implement something like a Pose3D or Orientation3D class that contains functions for accessing the quaternions as Euler Angles for readability and the quaternions themselves. Then use those class instances where possible.
An issue with that would be how to actually use these values properly in the Matrix calculations etc.
Implement something like a Pose3D or Orientation3D class that contains functions for accessing the quaternions as Euler Angles for readability and the quaternions themselves. Then use those class instances where possible.
An issue with that would be how to actually use these values properly in the Matrix calculations etc.