pfeatherstone

Nooooooooooooo

That will throw portability out the window.

Well from a personal point of view I code exclusively in c++ so a rust library isn't particularly useful unless rust/c++ interoperability is extremely simple, which I doubt it is....

That does look good. But it is in Rust... I mean I could look at calling Rust from C++ but not worth the effort for me.

> [`rustc` also supports more than one platform](https://doc.rust-lang.org/nightly/rustc/platform-support.html). wink > But I guess there are devices our there that one can target with C++ but not with Rust. Could you...

` the Rust compiler debugs your brain` I'm in the process of swapping as many raw pointers in my code base with smart pointers, particularly std::unique_ptr if possible. I have...

This paper "Comparison of Attitude and Heading Reference Systemsusing Foot Mounted MIMU Sensor Data:Basic, Madgwick and MahonySimone A. Ludwigaand Kaleb D. Burnhamaand Antonio R. Jim ́enezband Pierre A. Toumac" shows...

Maybe the readint and readuint functions could be a bit like readfloat. Use dataview and use the getUintx/getintx Methods. These include bigint versions for 64 bit integers. I would do...

Basically I would use dataview and its methods as much as possible and keep the dynamic array resizing you’ve done.

I could submit a PR next week but it all depends on how forgiving you are on my more or less detailed commit messages...