plug-ins that return quaternions

[hotspur1]

I'd like to create my own intersense plug-in that uses quaternions instead of Euler angles. Is there any documentation or sample code that I can look at for reference?

Does Vizard still accept quaternion data - I see the latest Intersense plug-in is strictly an Euler plug-in now.

I'm a little confused about dealing with the different reference frames between the intersense and Vizard when I do this - it's simple for the Euler angles.

Thanks
Andy