simMatrixToPose

Converts a transformation matrix to a pose

C++ synopsis

int simMatrixToPose(const double* matrixIn, double* poseOut)

Arguments

• matrixIn: input matrix (array of 12 values [Vx0 Vy0 Vz0 P0 Vx1 Vy1 Vz1 P1 Vx2 Vy2 Vz2 P2])
• poseOut: output pose (array of 7 values [x y z qx qy qz qw])

Return

• -1 if operation was not successful