rotation_matrix_from_quaternion

viam_rust_utils::ffi::spatialmath::rotation_matrix

Function rotation_matrix_from_quaternion 

Source 
#[unsafe(no_mangle)]
pub unsafe extern "C" fn rotation_matrix_from_quaternion(
    quat: *const Quaternion<f64>,
) -> *mut Rotation3<f64>
Expand description

Converts a quaternion into a 3D rotation matrix (a Rotation<f64, 3> from the nalgebra crate)

ยงSafety

When finished with the underlying quaternion passed to this function the caller must remember to free the quaternion memory using the free_quaternion_memory FFI function and the rotation matrix memory using the free_rotation_matrix_memory function