Norm drift
Expose invalid rotations before they contaminate downstream calculations.
Local-first orientation forensics
See where rotations go wrong.
Find, explain, and visualise quaternion attitude failures. Preserve the original evidence. Evaluate repair, trajectory, and controller candidates without handing software authority over physical hardware.
● v0.2.1
Apache-2.0
Rust 1.97+
No account
No telemetry
quatopsy.report/1Findings · 03
What component plots hide
Equivalent numbers can describe very different engineering stories.
Quatopsy keeps representation, physical motion, declared convention, time, and dynamics separate. A report tells you which obligation failed, where it failed, and what evidence supports that conclusion.
Sign discontinuity
Separate antipodal representation jumps from physical attitude motion.
Convention mismatch
Check declared quaternion semantics against supplied rotation matrices.
Rate inconsistency
Compare body angular velocity with quotient-aware quaternion kinematics.
Long-way command
Contrast a commanded path with the quotient-shortest orientation baseline.
Half-turn ambiguity
Surface fragile near-pi intervals without inventing a unique repair.
One local evidence chain
Observed data stays observed. Candidates stay candidates.
The conformance kernel owns diagnostic verdicts. Adapters declare provenance, the viewer presents canonical evidence, and optional repair, planning, and control paths remain separately named outputs.
From symptom to handover
A forensic workflow, not a quaternion playground.
Canonical findings linked to exact samples.
Analyse declared CSV semantics with a closed rule registry, stable result states, deterministic identity, bounded resources, and privacy-conscious reproducers.
0pass1findings2refused
Physical SO(3), projected S3, and time in sync.
A dependency-free static console keeps geometry, findings, evidence, raw values, and proposed state aligned by source-sample identity.
Digest-bound incident evidence.
Copy source material, diagnostics, reproducers, viewers, and optional candidates into one verifiable local handover.
Bounded trajectory candidates.
Generate torque-limited rest-to-rest paths with declared actuator, keep-out, objective, and uncertainty models. Optimality is not claimed.
Software-only GN&C evaluation.
Exercise geometric control, MEKF or UKF navigation, guidance, wheel allocation, SIL, host-CPU PIL, and loopback HIL without physical actuator authority.
Start with one trajectory
Install. Declare. Inspect.
Rust 1.97 or newer is the only runtime requirement. Quatopsy runs locally and writes explicit, separately named evidence.
Open the complete quick start ↗# Install the released CLI
cargo install quatopsy --locked
# Analyse declared quaternion evidence
quatopsy analyze \
--input trajectory.csv \
--manifest manifest.json \
--report report.json
result: findings
rule QAT-SIGN-001: finding (3)Advisory by design
Evidence for engineering judgement. Never permission to command.
Quatopsy is early-stage, production-quality research software for local advisory evaluation. It is not flight approval, certification evidence, independent validation, or a production support commitment.
- Physical actuator command refused
- Hard real-time execution refused
- Orbit determination out of scope
- Original trajectories remain read-only
Follow the evidence