How should the measurement field names be in comparison with state field names?

[tugrul512bit]

For example, when there is a single measurement of orientation (a quaternion) and if states to be handled by the library are quaternion (as pan, tilt, roll), velocity of quaternion (as velocity of pan, tilt, roll), acceleration of quaternion, then should the fields be named like:

• measurement: MyQuaternion
• state: MyQuaternion, MyQuaternionVel, MyQuaternionAcc

or different than measurement:

• state: MyQuaternionState, MyQuaternionVel, ...

How does library connect the updates between measurement and states? Does naming become an issue?

Does it have tools to differentiate a quaternion to compute velocity / acceleration or user has to compute it?

Is there a minimal example to use for such a scenario?

Thank you for your time.