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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