# Roger/Loco and Flatwagon orientations

## Roger towing


| | Wagon | Roger | IRC for KZV | KZV meas | Sides mismatch |
| :---: | :---: | :---: | :---: | :---: | :---: |
| 1. | --> | --> | + | + | No |
| 2. | <-- | --> | + | - | Yes |
| 3. | --> | <-- | - | + | Yes |
| 4. | <-- | <-- | - | - | No |

*`+` means pass-through as is, `-` means reverse*

**IRC for KZV** orientation depends on Roger orientation, because the IRC sensor is mounted on Roger

**KZV measurement** handling depends on Wagon orientation, because the KZV sensors are mounted on the wagon. It

- alters the handling of the rail guards (rear-front position). **KZV must know the Wagon orientation to handle rail guards properly**
- The rails will be swapped. **KZV or MerMec can handle this**
- IMU top and alignment will be negated **KZV or MerMec can handle this**
- ???

**Sides mismatch** means that the Roger measurement orientation (and thus measured data) is opposite to the KZV measurement orientation (and thus measured data). *If the Wagon data are normalized according to the flat-wagon orientation, and Roger data are normalized according to the Roger orientation, these two could be made match themselves and the railway orientation again*

## Generic loco towing


| | Wagon | Loco | IRC for KZV | KZV meas |
| :---: | :---: | :---: | :---: | :---: |
| 1. | --> | --> | + | + |
| 2. | <-- | --> | - | - |
| 3. | --> | <-- | + | + |
| 4. | <-- | <-- | - | - |

*`+` means pass-through as is, `-` means reverse*

**IRC for KZV**: When a generic Loco tows the wagon instead of the Roger, the IRC mounted on the wagon is used. Irc Orientation depends on **Wagon** orientation instead of the towing vehicle orientation.

**KZV measurement** works the same as with Roger towing

**Sides mismatch** is not an issue, since the Loco doesn't measure anything. Still, normalization to match the *railway* orientation will be needed.