code: def integrate(self, dt):
          
          if not dt == self.__last_dt:
              self.__last_q = fastintegrate.integrate_gyro_quaternion_uniform(self.data, dt)
              self.__last_dt = dt
          return self.__last_q
docs: Integrate gyro measurements to orientation using a uniform sample rate.
  
          Parameters
          -------------------
          dt : float
              Sample distance in seconds
  
          Returns
          ----------------
          orientation : (4, N) ndarray
                      Gyroscope orientation in quaternion form (s, q1, q2, q3)