This is an IMU quaternion data visualization tool for xkit.
### History
- V1.0.0
- Implementing 3D visualization with OpenGL
- STL file included(jet.stl)
- UDPServer or MulticastReceiver
### Install
```sh
pip install quat
```
### Dependencies
- PyQt6
- PyOpenGL
- pyqtgraph
- numpy-stl
- genlib
### Running
**UDP Server (default port 7321)**
```sh
quat
```
**MulticastReceiver (default group 239.8.7.6, default port 7321)**
```sh
quat --mcast
```
**options**
--mcast
--group=\<group\>
--iport=\<port\>
--log=\<stream | file>
### Client Implementations
- UDPClient or MulticastSender
**quaternion data format**
```sh
w, x, y, z
```
**Example**
```python
import time
from genlib.upd import UDPClient
from pop.ext import IMU
imu = IMU()
udp = UDPClient()
QUAT_IP = '192.168.0.100'
QUAT_PORT = 7321
while True:
w, x, y, z = imu.read(IMU.QUATERNION)
udp.sendTo(f"{w}, {x}, {y}, {z}".encode(), (QUAT_IP, QUAT_PORT))
time.sleep(20/1000)
```
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"description": "This is an IMU quaternion data visualization tool for xkit.\r\n\r\n### History\r\n- V1.0.0\r\n - Implementing 3D visualization with OpenGL\r\n - STL file included(jet.stl)\r\n - UDPServer or MulticastReceiver\r\n\r\n### Install\r\n```sh\r\npip install quat\r\n```\r\n\r\n### Dependencies\r\n- PyQt6\r\n- PyOpenGL\r\n- pyqtgraph\r\n- numpy-stl\r\n- genlib\r\n\r\n\r\n### Running\r\n**UDP Server (default port 7321)**\r\n```sh\r\nquat\r\n```\r\n**MulticastReceiver (default group 239.8.7.6, default port 7321)**\r\n```sh\r\nquat --mcast\r\n```\r\n**options** \r\n--mcast\r\n--group=\\<group\\> \r\n--iport=\\<port\\> \r\n--log=\\<stream | file>\r\n\r\n### Client Implementations\r\n- UDPClient or MulticastSender\r\n\r\n**quaternion data format**\r\n ```sh\r\n w, x, y, z\r\n ```\r\n\r\n**Example**\r\n ```python\r\n import time\r\n from genlib.upd import UDPClient\r\n from pop.ext import IMU\r\n\r\n imu = IMU()\r\n udp = UDPClient()\r\n \r\n QUAT_IP = '192.168.0.100'\r\n QUAT_PORT = 7321\r\n\r\n while True:\r\n w, x, y, z = imu.read(IMU.QUATERNION)\r\n udp.sendTo(f\"{w}, {x}, {y}, {z}\".encode(), (QUAT_IP, QUAT_PORT))\r\n time.sleep(20/1000) \r\n ```\r\n",
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