http://www.bulletphysics.com/Bullet/BulletFull/classbtMatrix3x3.html#a7521bf796271fcb8f0270d24fb13fb30

On Wed, Sep 1, 2010 at 7:03 PM, Adam Leeper <aleeper@stanford.edu> wrote:

> Hello-
>
> I might be missing something obvious, but I can't find any helper functions
> for converting a rotation matrix to a quaternion.
>
> I made a rotation matrix by choosing 3 basis vectors and putting them into
> a btMatrix3x3 (or equivalently, a tf::Transform with 0 position offset).
>
> I would like to just be able to just make a quaternion from this matrix.
> Does tf really not have a helper function for this? All I find are
> "createQuaternionFromRPY" sorts of functions, and Quaternion itself does not
> have a constructor that accepts a rotation matrix.
>
> Thanks,
> Adam
>
>
> Adam Leeper
> Stanford University
> aleeper@stanford.edu
> 719.358.3804
>
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