Re: [ros-users] tf: making quaternion from rotation matrix

Doh. Thanks Josh :)


Adam Leeper
Stanford University
aleeper@stanford.edu
719.358.3804


On Wed, Sep 1, 2010 at 7:30 PM, Josh Faust <jfaust@willowgarage.com> wrote:

>
> 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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>>
>>
>
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