public static Quaternion rotation(string serialport)
{
UHSimpleInterface outputinfo = readUH(serialport);
Quaternion Rot;
Rot.w = (float)outputinfo.qw;
Rot.x = (-1) * (float)outputinfo.qx;
Rot.y = (-1) * (float)outputinfo.qz;
Rot.z = (-1) * (float)outputinfo.qy;
return(Rot);
}
public static double[] photoReflectors(string serialport)
{
UHSimpleInterface outputinfo = readUH(serialport);
double[] return_value = new double[8];
return_value [0] = outputinfo.pr0;
return_value [1] = outputinfo.pr1;
return_value [2] = outputinfo.pr2;
return_value [3] = outputinfo.pr3;
return_value [4] = outputinfo.pr4;
return_value [5] = outputinfo.pr5;
return_value [6] = outputinfo.pr6;
return_value [7] = outputinfo.pr7;
return(return_value);
}
