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RovioNode.hpp adds negative to w() of quats #207

Closed MoBaT closed 5 years ago

MoBaT commented 5 years ago

I was wondering why the w() value in every quaternion in RovioNode.hpp has a negative sign on it.

MoBaT commented 5 years ago

I figured it out:

For example, if you have MrMC, I am interpreting it as taking a camera point and putting it in imu space. If I have a qCM, I am interpreting it as taking an imu point and putting it in camera space.

So putting a negative on the w() value of qMC inverts it so it reads as taking an imu point and putting it in camera therefore making them both: camToImu