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Subject: [boost] Trying out QVM with multiple library implementations
From: Andrew Hundt (athundt_at_[hidden])
Date: 2015-08-04 17:57:45

I'd really like to try out QVM because I have to switch between a half
dozen matrix, vector and quaternion types constantly and would prefer not
to write functions for each conversion and operations between them.

Examples of the formats I need to handle are:

*Eigen <>:*


+ rotation and translation versions


float[3] (vrep vector)
float[4] (vrep quaternion)
float[12] (vrep homogeneous transform matrix)

*cisstVector <>:*

There are also fixed versions of the "Dynamic" objects.
+ rotation & translations

Is there any particular concerns I need to take regarding alignment,
ordering (row vs column major) etc?

For example, the ordering of the quaternion data components differ between
eigen and rep:

  // 0123

  // vrep quat is ordered xyzw,

  // eigen quat is ordered wxyz

Any advice on how to go about this would be appreciated so I can try QVM

Andrew Hundt

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