00001 """ 00002 This module contains routines that are used to transform the 'raw' data recorded in bag 00003 files to something more convenient for later analysis, plotting, etc. 00004 00005 For example, orientation is typically reported (and recorded) as a quaternion, but often 00006 one would rather deal with Euler angles in degrees. The very common operation of performing this 00007 conversion is one example of a functionality that belongs here. 00008 """