Reproducing Table 1 (Orientation RMSE)

[jhultman]

Hi, I am trying to reproduce the iOS CoreMotion result from this table in the paper:

Can you explain more what is meant by "direct angular distance"? Do you mean the angle required to rotate one quaternion q1 to another q2? Is the error defined on the yaw angle, three-axis euler angles, unit quaternions? Do you unwrap the angles to avoid 0 / 2pi discontinuity?

I cannot reproduce the number, so I think I am misunderstanding something. If helpful I can share the code I have written to compute the error.