Closed traversaro closed 1 year ago
As for USD (https://github.com/clemense/quaternion-conventions/pull/2), also for Eigen the order in the API and in the internal memory order is different, see https://eigen.tuxfamily.org/dox/classEigen_1_1Quaternion.html#a3eba7a582f77a8f30525614821d7056f .
I am not sure how to handle this for libraries that use Eigen Quaternions, such as DRAKE or DART, especially as the internal memory order is not really hidden, as it emerges as soon as you consider the Eigen::Quaternion as a 4d vector.
As for USD (https://github.com/clemense/quaternion-conventions/pull/2), also for Eigen the order in the API and in the internal memory order is different, see https://eigen.tuxfamily.org/dox/classEigen_1_1Quaternion.html#a3eba7a582f77a8f30525614821d7056f .
I am not sure how to handle this for libraries that use Eigen Quaternions, such as DRAKE or DART, especially as the internal memory order is not really hidden, as it emerges as soon as you consider the Eigen::Quaternion as a 4d vector.