struct Quaternionf
Unit quaternion in Hamilton convention, component order w, x, y, z. It rotates body-frame FLU vectors into the world ENU frame: v_enu = q * v_flu * conjugate(q). Identity rotation is 1, 0, 0, 0.
| Name | Type | Unit / Scale | Notes |
|---|---|---|---|
w | float | Scalar component. | |
x | float | Vector X component. | |
y | float | Vector Y component. | |
z | float | Vector Z component. |