public void transformQuaternion(string target_frame, Stamped <emQuaternion> stamped_in, ref Stamped <emQuaternion> stamped_out)
{
emTransform trans = new emTransform();
lookupTransform(target_frame, stamped_in.frame_id, stamped_in.stamp, out trans);
if (stamped_out == null)
{
stamped_out = new Stamped <emQuaternion>();
}
stamped_out.data = trans * stamped_in.data;
stamped_out.stamp = trans.stamp;
stamped_out.frame_id = target_frame;
}