/// <summary>
/// Convert ROS-spaced TfQuaternion from TfListener to Unity-spaced Quaternion
/// </summary>
/// <param name="quat">A TfQuaternion as returned by the TransformListener class.</param>
/// <returns>A quaternion</returns>
public static Quaternion QuatTfToUnity(TfQuaternion quat)
{
Quaternion tfQ = new Quaternion(-(float)quat.x, -(float)quat.z, -(float)quat.y, (float)quat.w);
// Right hand to Left Hand
return(tfQ);
}
/// <summary>
/// Convert ROS-spaced TfQuaternion from TfListener to Unity-spaced Quaternion
/// </summary>
/// <param name="quat">A TfQuaternion as returned by the TransformListener class.</param>
/// <returns>A quaternion</returns>
public static Quaternion QuatTfToUnity(TfQuaternion quat)
{
return(new Quaternion((float)quat.x, (float)quat.y, (float)quat.z, (float)quat.w)); // TASK: not yet implemented
}