现在我有一个const nav_msgs::Odometry::ConstPtr laserOdometry类型的指针,我想获取它的四元数与平移,并赋值给Eigen::Quaterniond,Eigen::Vector3d
Eigen::Quaterniond bef_relo_r(1,0,0,0); Eigen::Vector3d bef_relo_t(0,0,0); //... bef_relo_r.w() = laserOdometry->pose.pose.orientation.w; bef_relo_r.x() = laserOdometry->pose.pose.orientation.x; bef_relo_r.y() = laserOdometry->pose.pose.orientation.y; bef_relo_r.z() = laserOdometry->pose.pose.orientation.z; bef_relo_t<<laserOdometry->pose.pose.position.x, laserOdometry->pose.pose.position.y, laserOdometry->pose.pose.position.z;