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• OPC-10000-210 – OPC Unified Architecture - Part 210: Relative Spatial Location
  E.1 Example of subtyping SpatialLocationType using the RSL concept
  describe relative spatial relationships another format or math might be needed to represent a position (e.g., in polar or cylindrical coordinates) or an orientation (e.g., in quaternion). Figure 25 shows ... SpatialLocationType ( 7.2 ) can be created. For example, a CartesianFrameQuaternionOrientationType , which can use the Variable Position in the same way the CartesianFrameAngleOrientationType uses it and describes Orientation with Quaternion