Converting Rotation3 to quaternion

Are there any neat tricks for converting a Rotation3 to a quaternion? I can do the conversion myself manually, but it would be nice if there was something like let quat = rotation.to_quaternion()

Unfortunately the current version of nalgebra does not has any neat way for this conversion. Though it will be added in the next release as UnitQuaternion::from_rotation_matrix(...).

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