Function swri_transform_util::SnapToRightAngle

• Defined in File transform_util.h

Function Documentation

tf2::Quaternion swri_transform_util::SnapToRightAngle(const tf2::Quaternion &rotation)

Snaps a quaternion rotation to the closest right angle rotation.

Parameters:

rotation – [in] The input quaternion rotation.

Returns:

The closest right angle rotation to the input rotation.