\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{trsfToQtrn}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{trsfToQtrn}},
{\tt \manName{qtrnToTrsf}},
{\tt \manName{qtrnToVect}}
-- RCCL routines to convert between transforms and quaternions.

}
\manSection{USAGE}
\cverbatim
#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;
@endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt tr} --}
Input or output transform
\manItem{{\tt q} --}
Input or output quaternion
\manItem{{\tt v} --}
Rotational velocity vector
\manSection{DESCRIPTION}
{\tt trsfToQtrn()} takes the rotation component of a 
$4\times 4$ homogeneous transform and computes the appropriate quaternion
representation.

{\tt qtrnToTrsf()} takes a quaternion and sets the rotational
component of {\TT tr} to the equivalent rotation; the translational
component of {\TT tr} is unchanged. 

{\tt qtrnToVect()} takes a quaternion representation of a
(presumably small) rotation and computes the corresponding differential
rotation vector, represented as a 3-vector.
\manSection{SEE ALSO}
{\tt multQtrn(3)}.
\raggedright
\manEnd
\end
