[QUAT] Added quaternion data structure to SensorData

src/shared/sensors/SensorData.h

@@ -145,6 +145,50 @@ struct AccelerometerData
     }
 };
 
+/**
+ * @brief Structure to handle quaternion data.
+ */
+struct QuaternionData
+{
+    uint64_t quaternionTimestamp = 0;
+    float quaternionX            = 0;
+    float quaternionY            = 0;
+    float quaternionZ            = 0;
+    float quaternionW            = 0;
+
+    QuaternionData() {}
+
+    QuaternionData(uint64_t timestamp, float x, float y, float z, float w)
+        : quaternionTimestamp(timestamp), quaternionX(x), quaternionY(y),
+          quaternionZ(z), quaternionW(w)
+    {
+    }
+
+    QuaternionData(const QuaternionData& data) = default;
+
+    explicit QuaternionData(const Eigen::Vector4f& quat)
+        : quaternionX(quat(0)), quaternionY(quat(1)), quaternionZ(quat(2)),
+          quaternionW(quat(3))
+    {
+    }
+
+    static std::string header()
+    {
+        return "timestamp,quaternionX,quaternionY,quaternionZ,quaterionW\n";
+    }
+
+    void print(std::ostream& os) const
+    {
+        os << quaternionTimestamp << "," << quaternionX << "," << quaternionY
+           << "," << quaternionZ << "," << quaternionW << "\n";
+    }
+
+    operator Eigen::Vector4f() const
+    {
+        return {quaternionX, quaternionY, quaternionZ, quaternionW};
+    }
+};
+
 /**
  * @brief Structure to handle gyroscope data.
  */

src/shared/sensors/VN100/VN100.cpp

@@ -484,11 +484,11 @@ QuaternionData VN100::sampleQuaternion()
     }
 
     // Parse the data
-    data.quatTimestamp = TimestampTimer::getTimestamp();
-    data.quatX         = strtod(recvString + indexStart + 1, &nextNumber);
-    data.quatY         = strtod(nextNumber + 1, &nextNumber);
-    data.quatZ         = strtod(nextNumber + 1, &nextNumber);
-    data.quatW         = strtod(nextNumber + 1, NULL);
+    data.quaternionTimestamp = TimestampTimer::getTimestamp();
+    data.quaternionX         = strtod(recvString + indexStart + 1, &nextNumber);
+    data.quaternionY         = strtod(nextNumber + 1, &nextNumber);
+    data.quaternionZ         = strtod(nextNumber + 1, &nextNumber);
+    data.quaternionW         = strtod(nextNumber + 1, NULL);
 
     return data;
 }

src/shared/sensors/VN100/VN100Data.h

@@ -27,18 +27,6 @@
 namespace Boardcore
 {
 
-/**
- * @brief Structure to handle quaternion data
- */
-struct QuaternionData
-{
-    uint64_t quatTimestamp;
-    float quatX;
-    float quatY;
-    float quatZ;
-    float quatW;
-};
-
 /**
  * @brief data type class
  */
@@ -90,10 +78,11 @@ struct VN100Data : public QuaternionData,
 
     void print(std::ostream& os) const
     {
-        os << quatTimestamp << "," << quatX << "," << quatY << "," << quatZ
-           << "," << quatW << "," << magneticFieldTimestamp << ","
-           << magneticFieldX << "," << magneticFieldY << "," << magneticFieldZ
-           << "," << accelerationTimestamp << "," << accelerationX << ","
+        os << quaternionTimestamp << "," << quaternionX << "," << quaternionY
+           << "," << quaternionZ << "," << quaternionW << ","
+           << magneticFieldTimestamp << "," << magneticFieldX << ","
+           << magneticFieldY << "," << magneticFieldZ << ","
+           << accelerationTimestamp << "," << accelerationX << ","
            << accelerationY << "," << accelerationZ << ","
            << angularSpeedTimestamp << "," << angularSpeedX << ","
            << angularSpeedY << "," << angularSpeedZ << ","