Yes, there are many. For example if you have an affine transformation
"Transform tquat", then just doing
TransformMatrix tmat = tquat;
will convert to a rotation matrix. to convert back:
TransformMatrix tquat_same = tmat;
You can use Transform::rotfromaxisangle or
TransformMatrix::rotfromaxisangle to initialize a rotation from axis
and angle
you can also use TransformMatrix::rotfromquat
If you want to manipulate only quaternions, then check out the ODE
functions dQfromR and dRfromQ
(cc'ing list if others are curious)
rosen,
2008/8/12 Paul E. Rybski <
[hidden email]>:
> Hi,
> I don't normally think in quaternions and so I wondered if there were
> some useful functions in openrave that would let me translate from
> quaternions to rotation matrices and back again.
>
> Thanks!
>
> -Paul
>
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