trsfToQtrn(3)

NAME
trsfToQtrn, qtrnToTrsf, qtrnToVect -- RCCL routines to convert between transforms and quaternions.

USAGE
#include <robotTypes.h>    /* included as part of <rccl.h> */

trsfToQtrn (q, tr)
  QTRN *q;
  TRSF *tr;

qtrnToTrsf (tr, q)
  TRSF *tr;
  QTRN *q;

qtrnToVect (v, q)
  VECT *v;
  QTRN *q;

ARGUMENTS

tr --
    Input or output transform

q --
    Input or output quaternion

v --
    Rotational velocity vector

DESCRIPTION
trsfToQtrn() takes the rotation component of a 4X4 homogeneous transform and computes the appropriate quaternion representation.

qtrnToTrsf() takes a quaternion and sets the rotational component of "tr" to the equivalent rotation; the translational component of "tr" is unchanged.

qtrnToVect() takes a quaternion representation of a (presumably small) rotation and computes the corresponding differential rotation vector, represented as a 3-vector.

SEE ALSO
multQtrn(3).