This PR aims to fix the way the error between the expected values and the measured ones is computed during the IMU orientation test. In details:
starting from the rotation matrices of the expected and measured orientation values, the axis-angle representation is used to compute the error as the magnitude of the vector representing the rotation axis;
during the whole trajectory, the error is computed at every moment and stored;
the maximum value of error is compared with the reference value defined for the test, and so to determine if the test is passed or failed.
This PR aims to fix the way the error between the expected values and the measured ones is computed during the IMU orientation test. In details:
axis-anglerepresentation is used to compute the error as the magnitude of the vector representing the rotation axis;maximumvalue of error is compared with the reference value defined for the test, and so to determine if the test is passed or failed.cc @pattacini