add encoder for orientation sub modules

2026-09-13 09:59:34 +00:00 · 2025-03-15 08:33:41 -05:00
parent 7b966bc25c
commit b99a0224e8
3 changed files with 58 additions and 0 deletions
@@ -0,0 +1,27 @@
+export default (
+  latency: number,
+  Qx: number,
+  Qy: number,
+  Qz: number,
+  Qw: number,
+  isLittleEndian: boolean = false
+): Uint8Array => {
+  const bytes = new Uint8Array(37);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, 0x03);
+  dataOffset += 1;
+  view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
+  dataOffset += 2;
+  view.setUint16(dataOffset, latency, isLittleEndian);
+  dataOffset += 2;
+  view.setFloat64(dataOffset, Qx, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, Qy, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, Qz, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, Qw, isLittleEndian);
+  return bytes;
+};