{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "#/components/schemas/OrientationReading",
  "title": "OrientationReading",
  "type": "object",
  "description": "Orientation sensor reading data",
  "properties": {
    "quaternion": {
      "type": "object",
      "properties": {
        "w": {
          "type": "number",
          "format": "float"
        },
        "x": {
          "type": "number",
          "format": "float"
        },
        "y": {
          "type": "number",
          "format": "float"
        },
        "z": {
          "type": "number",
          "format": "float"
        }
      },
      "description": "Orientation as a quaternion"
    },
    "rotationMatrix": {
      "type": "object",
      "properties": {
        "m11": {
          "type": "number",
          "format": "float"
        },
        "m12": {
          "type": "number",
          "format": "float"
        },
        "m13": {
          "type": "number",
          "format": "float"
        },
        "m21": {
          "type": "number",
          "format": "float"
        },
        "m22": {
          "type": "number",
          "format": "float"
        },
        "m23": {
          "type": "number",
          "format": "float"
        },
        "m31": {
          "type": "number",
          "format": "float"
        },
        "m32": {
          "type": "number",
          "format": "float"
        },
        "m33": {
          "type": "number",
          "format": "float"
        }
      },
      "description": "3x3 rotation matrix"
    },
    "timestamp": {
      "type": "string",
      "format": "date-time"
    }
  }
}