Hi Tom,

Could you tell me where you read up the quaternion parts that helped you figure 
out the code you posted. I went through some stuff on the wiki and another pdf 
on quaternions that I found. But in both those cases, they refer to a quat as 
something causing rotation from vector v1 to v2. 

So in this case when we call PAT->getAttitude() and get a quat, what exactly 
are we getting, which 2 vectors are we rotating between ?
Secondly, I'm also a little confused as to what the 4 values in a quat object 
represent  

Thanks!

Sanat

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