Store the quaternion as a UnitQuaternion

jmagnuson / ahrs-rs

A Rust port of Madgwick's AHRS algorithm

MIT License

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Store the quaternion as a UnitQuaternion #22

Closed iBelieve closed 3 years ago

iBelieve commented 3 years ago

This allows us access to UnitQuaternion's euler_angles() method, and also more specifically declares the intent that the stored quaternion is normalized.

jmagnuson commented 3 years ago

Oh good idea, I hadn't thought of that! Looks like field_access APIs just need to be updated similarly, and then hopefully CI will be happy.