#### A debugging tip

Programmers often make mistakes when connecting the tracked orientation to the viewpoint. Figure 9.7 shows a table of the common mistakes. To determine whether the transform has been correctly applied, one should put on the headset and try rotating about the three canonical axes: A pure yaw, a pure pitch, and a pure roll. Let denote that the world is moving correctly with respect to a head rotation. Let denote that it seems to move in the opposite direction. Figure 9.7 shows a table of the eight possible outcomes and the most likely cause of each problem.

Steven M LaValle 2016-12-31